From 5e8c1545d6ad053abd65a59dd4b57c8d89c6194e Mon Sep 17 00:00:00 2001
From: Abishalini <abi.gpuram@gmail.com>
Date: Fri, 28 Oct 2022 17:13:34 -0600
Subject: [PATCH] Include parameters header file

---
 .../moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h     | 4 ++++
 .../kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml | 5 ++++-
 .../kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp      | 2 --
 moveit_kinematics/package.xml                                | 1 +
 4 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
index 5757655b7ee..77889a4cd10 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
+++ b/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h
@@ -39,6 +39,7 @@
 // ROS
 #include <rclcpp/rclcpp.hpp>
 #include <random_numbers/random_numbers.h>
+#include <kdl_kinematics_parameters.hpp>
 
 // ROS msgs
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -182,5 +183,8 @@ class KDLKinematicsPlugin : public kinematics::KinematicsBase
    * > 1.0: orientation has more importance than position
    * = 0.0: perform position-only IK */
   double orientation_vs_position_weight_;
+
+  // std::shared_ptr<kdl_kinematics::ParamListener> param_listener_;
+  // kdl_kinematics::Params params_;
 };
 }  // namespace kdl_kinematics_plugin
diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
index 5fa9e8a6fde..5734b8e7b8e 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml
@@ -29,7 +29,10 @@ kdl_kinematics:
   orientation_vs_position: {
     type: double,
     default_value: 1.0,
-    description: "orientation vs position weight",
+    description: "Weight of orientation error vs position error
+                  * < 1.0: orientation has less importance than position
+                  * > 1.0: orientation has more importance than position
+                  * = 0.0: perform position-only IK",
     # validation:
   }
 
diff --git a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
index c98c1a8cfbf..8eb90762633 100644
--- a/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
+++ b/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp
@@ -37,8 +37,6 @@
 #include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
 #include <moveit/kdl_kinematics_plugin/chainiksolver_vel_mimic_svd.hpp>
 
-#include "kdl_kinematics_parameters.hpp"
-
 #include <tf2_kdl/tf2_kdl.hpp>
 #include <tf2/transform_datatypes.h>
 
diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
index 048eb5dd780..8234b33c5bd 100644
--- a/moveit_kinematics/package.xml
+++ b/moveit_kinematics/package.xml
@@ -27,6 +27,7 @@
   <depend>moveit_core</depend>
   <depend>class_loader</depend>
   <depend>pluginlib</depend>
+  <depend>generate_parameter_library</depend>
   <depend>eigen</depend>
   <depend>tf2</depend>
   <depend>tf2_kdl</depend>