From eadbc1d9756a64e9aa93aa1730dd119c8dea9b4a Mon Sep 17 00:00:00 2001
From: jodle001 <60989139+jodle001@users.noreply.github.com>
Date: Tue, 2 Jan 2024 13:41:38 -0500
Subject: [PATCH] Formatting adn also publishing robot_description and semantic

---
 abb_bringup/launch/abb_moveit.launch.py | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/abb_bringup/launch/abb_moveit.launch.py b/abb_bringup/launch/abb_moveit.launch.py
index 94ca105..6edf1c1 100644
--- a/abb_bringup/launch/abb_moveit.launch.py
+++ b/abb_bringup/launch/abb_moveit.launch.py
@@ -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'))
@@ -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",
     }
 
@@ -117,7 +119,6 @@ def launch_setup(context, *args, **kwargs):
 
 
 def generate_launch_description():
-
     declared_arguments = []
 
     # TODO(andyz): add other options