Add support for jazzy #4
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Signed-off-by: Luca Della Vedova <[email protected]>
Signed-off-by: Luca Della Vedova <[email protected]>
Signed-off-by: Luca Della Vedova <[email protected]>
| has_acceleration_limits: true | ||
| max_acceleration: 50.0 |
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moveit will refuse running if no acceleration limit is set, I put a random value here but should probably double check it
| trajectory_duration_monitoring: true | ||
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| moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager | ||
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| controller_names: | ||
| - joint_trajectory_controller | ||
| moveit_simple_controller_manager: | ||
| controller_names: | ||
| - joint_trajectory_controller | ||
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| 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 |
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This change is the same as upstream PickNikRobotics#60, note that if we don't merge rolling the abb_irb1200_5_90_moveit_config package will still be broken, but I didn't want to merge upstream since it added a lot to this diff.
| joint_limits_yaml = { | ||
| "robot_description_planning": load_yaml("abb_irb1200_5_90_moveit_config", "config/joint_limits.yaml") | ||
| } |
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I hardcoded the package name abb_irb1200_5_90_moveit_config since it's what is done in the rest of the launch file but I find it very confusing. We have a moveit_config_package parameter that is used to get the urdf but everything else is hardcoded to the abb_irb1200_5_90? This means that as soon as a user sets the parameter to anything different this will stop working in very confusing ways?
Still, didn't address it to avoid blowing up the size of this PR but happy to do it in a followup.
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Yeah we'll need to switch to moveit_config_builder instead of manually specifying these configs. That can be a follow up to the upstream repo.
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