From cb867aeddfdca6e3791a4ede998fe23ce9958754 Mon Sep 17 00:00:00 2001 From: Karthik Arumugham Date: Tue, 27 Aug 2024 14:29:30 +0530 Subject: [PATCH] Fix run.launch.py (#607) Add path to panda_config.yaml file to have parameters available for pick_place_demo Co-authored-by: Robert Haschke --- demo/launch/run.launch.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/demo/launch/run.launch.py b/demo/launch/run.launch.py index a4cd1b1c..c81dbf40 100644 --- a/demo/launch/run.launch.py +++ b/demo/launch/run.launch.py @@ -1,3 +1,5 @@ +import os +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration @@ -12,8 +14,10 @@ def generate_launch_description(): .to_moveit_configs() ) + package = "moveit_task_constructor_demo" + package_shared_path = get_package_share_directory(package) node = Node( - package="moveit_task_constructor_demo", + package=package, executable=LaunchConfiguration("exe"), output="screen", parameters=[ @@ -22,6 +26,7 @@ def generate_launch_description(): moveit_config.robot_description_kinematics, moveit_config.joint_limits, moveit_config.planning_pipelines, + os.path.join(package_shared_path, "config", "panda_config.yaml"), ], )