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ROBOTIS-GIT · Oct 25, 2024 · 0230665 · 0230665
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diff --git a/turtlebot3_manipulation_example/src/hello_moveit.cpp b/turtlebot3_manipulation_example/src/hello_moveit.cpp
@@ -1,3 +1,6 @@
+// Modify the MoveIt tutorial as much as you like using the basic example.
+// Author: Sungho Woo
+
 #include <memory>
 
 #include <rclcpp/rclcpp.hpp>
@@ -29,7 +32,8 @@ auto move_group_interface = MoveGroupInterface(node, "arm");
     return msg;
   }();
   move_group_interface.setPoseTarget(target_pose);
-  move_group_interface.setGoalTolerance(0.01);
+  move_group_interface.setGoalJointTolerance(0.01);
+  move_group_interface.setGoalOrientationTolerance(0.01);
 
   // Create a plan to that target pose
   auto const [success, plan] = [&move_group_interface]{

diff --git a/turtlebot3_manipulation_teleop/src/turtlebot3_manipulation_teleop.cpp b/turtlebot3_manipulation_teleop/src/turtlebot3_manipulation_teleop.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Hye-jong KIM
+// Author: Hye-jong KIM, Sungho Woo
 
 #include <algorithm>
 #include <memory>