Attempt to fix moveit servo_node

This makes it start but I couldn't get the robot moving.

Author: Felix Exner

ur_moveit_config/config/ur_servo.yaml

@@ -52,7 +52,7 @@ num_outgoing_halt_msgs_to_publish: 4
 ## Configure handling of singularities and joint limits
 lower_singularity_threshold:  100.0  # Start decelerating when the condition number hits this (close to singularity)
 hard_stop_singularity_threshold: 200.0 # Stop when the condition number hits this
-joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
 cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands

ur_moveit_config/launch/ur_moveit.launch.py

@@ -256,6 +256,7 @@ def launch_setup(context, *args, **kwargs):
             servo_params,
             robot_description,
             robot_description_semantic,
+            robot_description_kinematics,
         ],
         output="screen",
     )