diff --git a/demo/launch/run.launch.py b/demo/launch/run.launch.py index c81dbf40..79e32a4e 100644 --- a/demo/launch/run.launch.py +++ b/demo/launch/run.launch.py @@ -10,6 +10,7 @@ from moveit_configs_utils import MoveItConfigsBuilder def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("moveit_resources_panda") + .planning_pipelines(pipelines=["ompl"]) .robot_description(file_path="config/panda.urdf.xacro") .to_moveit_configs() ) @@ -21,11 +22,7 @@ def generate_launch_description(): executable=LaunchConfiguration("exe"), output="screen", parameters=[ - moveit_config.robot_description, - moveit_config.robot_description_semantic, - moveit_config.robot_description_kinematics, - moveit_config.joint_limits, - moveit_config.planning_pipelines, + moveit_config.to_dict(), os.path.join(package_shared_path, "config", "panda_config.yaml"), ], ) diff --git a/demo/scripts/constrained.py b/demo/scripts/constrained.py index 82d7319e..c790f55e 100755 --- a/demo/scripts/constrained.py +++ b/demo/scripts/constrained.py @@ -11,10 +11,13 @@ import time import rclcpp rclcpp.init() -node = rclcpp.Node("mtc_tutorial") + +node_options = rclcpp.NodeOptions() +node_options.automatically_declare_parameters_from_overrides = True +node = rclcpp.Node("mtc_tutorial", node_options) group = "panda_arm" -planner = core.PipelinePlanner(node) +planner = core.PipelinePlanner(node, "ompl", "RRTConnectkConfigDefault") task = core.Task() task.name = "constrained" @@ -50,7 +53,8 @@ pose.position.y = 0.0 pose.position.z = 0.485 pose.orientation.x = pose.orientation.w = 0.70711 # 90° about x mps.addObject(co) -mps.attachObjects(["object"], "panda_hand") +mps.attachObjects(["object"], "panda_link8") +mps.allowCollisions("object", ["panda_leftfinger", "panda_rightfinger"], True) task.add(mps) @@ -77,4 +81,4 @@ task.add(move) if task.plan(): task.publish(task.solutions[0]) -time.sleep(100) +time.sleep(500)