{"action":"created","issue":{"url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/23","labels_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/23/labels{/name}","comments_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/23/comments","events_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/23/events","html_url":"https://github.com/CentroEPiaggio/kuka-lwr/pull/23","id":85567727,"number":23,"title":"Moveit planning execution","user":{"login":"marcoesposito1988","id":439893,"avatar_url":"https://avatars.githubusercontent.com/u/439893?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoesposito1988","html_url":"https://github.com/marcoesposito1988","followers_url":"https://api.github.com/users/marcoesposito1988/followers","following_url":"https://api.github.com/users/marcoesposito1988/following{/other_user}","gists_url":"https://api.github.com/users/marcoesposito1988/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoesposito1988/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoesposito1988/subscriptions","organizations_url":"https://api.github.com/users/marcoesposito1988/orgs","repos_url":"https://api.github.com/users/marcoesposito1988/repos","events_url":"https://api.github.com/users/marcoesposito1988/events{/privacy}","received_events_url":"https://api.github.com/users/marcoesposito1988/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2015-06-05T16:06:30Z","updated_at":"2015-06-09T07:32:17Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/pulls/23","html_url":"https://github.com/CentroEPiaggio/kuka-lwr/pull/23","diff_url":"https://github.com/CentroEPiaggio/kuka-lwr/pull/23.diff","patch_url":"https://github.com/CentroEPiaggio/kuka-lwr/pull/23.patch"},"body":""},"comment":{"url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/comments/110260991","html_url":"https://github.com/CentroEPiaggio/kuka-lwr/pull/23#issuecomment-110260991","issue_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/23","id":110260991,"user":{"login":"carlosjoserg","id":4049053,"avatar_url":"https://avatars.githubusercontent.com/u/4049053?v=3","gravatar_id":"","url":"https://api.github.com/users/carlosjoserg","html_url":"https://github.com/carlosjoserg","followers_url":"https://api.github.com/users/carlosjoserg/followers","following_url":"https://api.github.com/users/carlosjoserg/following{/other_user}","gists_url":"https://api.github.com/users/carlosjoserg/gists{/gist_id}","starred_url":"https://api.github.com/users/carlosjoserg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/carlosjoserg/subscriptions","organizations_url":"https://api.github.com/users/carlosjoserg/orgs","repos_url":"https://api.github.com/users/carlosjoserg/repos","events_url":"https://api.github.com/users/carlosjoserg/events{/privacy}","received_events_url":"https://api.github.com/users/carlosjoserg/received_events","type":"User","site_admin":false},"created_at":"2015-06-09T07:32:17Z","updated_at":"2015-06-09T07:32:17Z","body":"> This is where our views differ ;)\r\n\r\nI know ; )\r\n\r\n> I still think that we can have a simpler structure\r\n\r\nThat's what the single_lwr_example is for indeed.\r\n\r\nI still have three more points in my defense:\r\n\r\n1. All are configuration files. One package is generated automatically by the setup_assistant, and the other two are very simple, only requires for an user to write a launch file and the [robot definition](https://github.com/CentroEPiaggio/kuka-lwr/blob/master/single_lwr_example/single_lwr_robot/robot/single_lwr_robot.urdf.xacro) (with the corresponding [configuration files](https://github.com/CentroEPiaggio/kuka-lwr/tree/master/single_lwr_example/single_lwr_robot/config)).\r\n\r\n2. I don't know much about other robots, but in the case of the kuka, it is extremely important to know the configuration if you plan to use the joint impedance strategy. There are two ways to deal with a different configuration from the horizontal fixed table you mention, which is either changing the gravity vector or the $ROBROOT variable. I strongly recommend the latter. And this variable should be equal to the [origin block you pass in the robot definition](https://github.com/CentroEPiaggio/kuka-lwr/blob/master/single_lwr_example/single_lwr_robot/robot/single_lwr_robot.urdf.xacro#L37), which I find a nice method to be aware of that.\r\n\r\n3. I do really think that it is the user that should configure the MoveIt! package, no matter how simple the scenario is, to make the user aware of the environment, groups, joints, chains he/she wants to plan for. It is more of a middle-level app-specific package to me, and the setup_assistant is very user-friendly.\r\n\r\nJust forwarding the question:\r\n> I would really like to hear @gavanderhoorn 's opinion regarding this. Would the actual structure be ok for acceptance into the ROS-I umbrella?"}}