Use cartesian_speed_limited_link instead of `cartesian_speed_end_ef…

…fector_link` when available (#56) * Update msg * Use `cartesian_speed_limited_link` instead of `cartesian_speed_end_effector_link` when available Signed-off-by: Andrej Orsula <[email protected]> --------- Signed-off-by: Andrej Orsula <[email protected]> Co-authored-by: Apurv Saha <[email protected]>
AndrejOrsula · Mar 30, 2024 · 13b2b70 · 13b2b70
1 parent f948565
commit 13b2b70
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/pymoveit2/moveit2.py b/pymoveit2/moveit2.py
@@ -2056,7 +2056,11 @@ def __init_move_action_goal(
         move_action_goal.request.allowed_planning_time = 0.5
         move_action_goal.request.max_velocity_scaling_factor = 0.0
         move_action_goal.request.max_acceleration_scaling_factor = 0.0
-        move_action_goal.request.cartesian_speed_end_effector_link = end_effector
+        # Note: Attribute was renamed in Iron (https://github.com/ros-planning/moveit_msgs/pull/130)
+        if hasattr(move_action_goal.request, "cartesian_speed_limited_link"):
+            move_action_goal.request.cartesian_speed_limited_link = end_effector
+        else:
+            move_action_goal.request.cartesian_speed_end_effector_link = end_effector
         move_action_goal.request.max_cartesian_speed = 0.0
 
         # move_action_goal.planning_options.planning_scene_diff = "Ignored"