Properly configure moveit controllers (#60)

* Properly configure moveit controllers Signed-off-by: Yadunund <[email protected]> * Fix controller state topic name in tests Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]>
PickNikRobotics · Mar 7, 2024 · 42b3209 · 42b3209
1 parent 854abc1
commit 42b3209
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Showing 2 changed files with 16 additions and 14 deletions.
diff --git a/abb_bringup/test/test_command_topics.cpp b/abb_bringup/test/test_command_topics.cpp
@@ -27,7 +27,7 @@ TEST_F(TaskPlanningFixture, ControllerTopicsTest)
   // Define a map of the topics to check and their types
   std::map<std::string, std::string> expected_topic_names_and_types = {
     { "/joint_trajectory_controller/joint_trajectory", "trajectory_msgs/msg/JointTrajectory" },
-    { "/joint_trajectory_controller/state", "control_msgs/msg/JointTrajectoryControllerState" }
+    { "/joint_trajectory_controller/controller_state", "control_msgs/msg/JointTrajectoryControllerState" }
   };
   for (const auto& [topic_name, topic_type] : expected_topic_names_and_types)
   {

diff --git a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/moveit_controllers.yaml
@@ -2,20 +2,22 @@ trajectory_execution:
   allowed_execution_duration_scaling: 1.2
   allowed_goal_duration_margin: 0.5
   allowed_start_tolerance: 0.01
+  trajectory_duration_monitoring: true
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 
-controller_names:
-  - joint_trajectory_controller
+moveit_simple_controller_manager:
+  controller_names:
+    - joint_trajectory_controller
 
-joint_trajectory_controller:
-  action_ns: follow_joint_trajectory
-  type: FollowJointTrajectory
-  default: true
-  joints:
-    - joint_1
-    - joint_2
-    - joint_3
-    - joint_4
-    - joint_5
-    - joint_6
+  joint_trajectory_controller:
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6