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Formatting adn also publishing robot_description and semantic
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jodle001 committed Jan 2, 2024
1 parent 7eb9379 commit eadbc1d
Showing 1 changed file with 9 additions and 8 deletions.
17 changes: 9 additions & 8 deletions abb_bringup/launch/abb_moveit.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -41,18 +41,20 @@ def launch_setup(context, *args, **kwargs):
'config', f'{moveit_config_file.perform(context)}'))
.planning_pipelines(
pipelines=["ompl"],
default_planning_pipeline="ompl",)
default_planning_pipeline="ompl", )
.robot_description_kinematics(file_path=os.path.join(
get_package_share_directory(f'{moveit_config_package.perform(context)}'),
'config', 'kinematics.yaml'))
.trajectory_execution(file_path=os.path.join(
get_package_share_directory(f'{moveit_config_package.perform(context)}'),
'config', 'moveit_controllers.yaml'))
.planning_scene_monitor(
publish_planning_scene=True,
publish_geometry_updates=True,
publish_state_updates=True,
publish_transforms_updates=True)
.planning_scene_monitor(
publish_planning_scene=True,
publish_geometry_updates=True,
publish_state_updates=True,
publish_transforms_updates=True,
publish_robot_description=True,
publish_robot_description_semantic=True)
.joint_limits(file_path=os.path.join(
get_package_share_directory(f'{moveit_config_package.perform(context)}'),
'config', 'joint_limits.yaml'))
Expand All @@ -62,7 +64,7 @@ def launch_setup(context, *args, **kwargs):
# MoveIt controllers
moveit_controllers = {
"moveit_simple_controller_manager": load_yaml(f"{moveit_config_package.perform(context)}",
"config/moveit_controllers.yaml"),
"config/moveit_controllers.yaml"),
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
}

Expand Down Expand Up @@ -117,7 +119,6 @@ def launch_setup(context, *args, **kwargs):


def generate_launch_description():

declared_arguments = []

# TODO(andyz): add other options
Expand Down

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