From 9b4c76076be9b62fa2f37e42fb985956a144b3a4 Mon Sep 17 00:00:00 2001 From: TipluJacob <78360006+TipluJacob@users.noreply.github.com> Date: Mon, 18 Dec 2023 17:36:57 +0100 Subject: [PATCH] Fix missing configs in demo launch files (#509) --- demo/launch/alternative_path_costs.launch.py | 1 + demo/launch/cartesian.launch.py | 1 + demo/launch/fallbacks_move_to.launch.py | 3 +-- demo/launch/ik_clearance_cost.launch.py | 1 + demo/launch/modular.launch.py | 1 + 5 files changed, 5 insertions(+), 2 deletions(-) diff --git a/demo/launch/alternative_path_costs.launch.py b/demo/launch/alternative_path_costs.launch.py index 4e465dd4..33aa1179 100644 --- a/demo/launch/alternative_path_costs.launch.py +++ b/demo/launch/alternative_path_costs.launch.py @@ -16,6 +16,7 @@ def generate_launch_description(): executable="alternative_path_costs", output="screen", parameters=[ + moveit_config.joint_limits, moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics, diff --git a/demo/launch/cartesian.launch.py b/demo/launch/cartesian.launch.py index fe2db9ac..e99c283a 100644 --- a/demo/launch/cartesian.launch.py +++ b/demo/launch/cartesian.launch.py @@ -15,6 +15,7 @@ def generate_launch_description(): executable="cartesian", output="screen", parameters=[ + moveit_config.joint_limits, moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics, diff --git a/demo/launch/fallbacks_move_to.launch.py b/demo/launch/fallbacks_move_to.launch.py index 9bd20936..f52c9f2f 100644 --- a/demo/launch/fallbacks_move_to.launch.py +++ b/demo/launch/fallbacks_move_to.launch.py @@ -11,13 +11,12 @@ def generate_launch_description(): .to_moveit_configs() ) - print(moveit_config.planning_pipelines) fallbacks_move_to_task = Node( package="moveit_task_constructor_demo", executable="fallbacks_move_to", output="screen", parameters=[ - moveit_config.cartesian_limits, + moveit_config.pilz_cartesian_limits, moveit_config.joint_limits, moveit_config.planning_pipelines, moveit_config.robot_description, diff --git a/demo/launch/ik_clearance_cost.launch.py b/demo/launch/ik_clearance_cost.launch.py index 9d2b826d..348624a5 100644 --- a/demo/launch/ik_clearance_cost.launch.py +++ b/demo/launch/ik_clearance_cost.launch.py @@ -15,6 +15,7 @@ def generate_launch_description(): executable="ik_clearance_cost", output="screen", parameters=[ + moveit_config.joint_limits, moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics, diff --git a/demo/launch/modular.launch.py b/demo/launch/modular.launch.py index a4bd7bb2..2b9cda5e 100644 --- a/demo/launch/modular.launch.py +++ b/demo/launch/modular.launch.py @@ -15,6 +15,7 @@ def generate_launch_description(): executable="modular", output="screen", parameters=[ + moveit_config.joint_limits, moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics,