Fix including of moveit parameters

Signed-off-by: Luca Della Vedova <[email protected]>
osrf · Nov 19, 2024 · be0865d · be0865d
1 parent 8cc0eb1
commit be0865d
Show file tree

Hide file tree

Showing 3 changed files with 13 additions and 3 deletions.
diff --git a/nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py b/nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py
@@ -81,6 +81,10 @@ def launch_setup(context, *args, **kwargs):
         "abb_irb1300_10_115_moveit_config", "config/kinematics.yaml"
     )
 
+    joint_limits_yaml = {
+        "robot_description_planning": load_yaml("abb_irb1300_10_115_moveit_config", "config/joint_limits.yaml")
+    }
+
     # Planning Functionality
     ompl_planning_pipeline_config = {
         "move_group": {
@@ -99,8 +103,8 @@ def launch_setup(context, *args, **kwargs):
         "abb_irb1300_10_115_moveit_config", "config/moveit_controllers.yaml"
     )
     moveit_controllers = {
-        "moveit_simple_controller_manager": moveit_simple_controllers_yaml,
         "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
+        "moveit_simple_controller_manager": moveit_simple_controllers_yaml["moveit_simple_controller_manager"],
     }
 
     trajectory_execution = {
@@ -127,6 +131,7 @@ def launch_setup(context, *args, **kwargs):
             robot_description,
             robot_description_semantic,
             kinematics_yaml,
+            joint_limits_yaml,
             ompl_planning_pipeline_config,
             trajectory_execution,
             moveit_controllers,

diff --git a/nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py b/nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py
@@ -82,6 +82,10 @@ def launch_setup(context, *args, **kwargs):
         "abb_irb910sc_3_45_moveit_config", "config/kinematics.yaml"
     )
 
+    joint_limits_yaml = {
+        "robot_description_planning": load_yaml("abb_irb910sc_3_45_moveit_config", "config/joint_limits.yaml")
+    }
+
     # Planning Functionality
     ompl_planning_pipeline_config = {
         "move_group": {
@@ -100,8 +104,8 @@ def launch_setup(context, *args, **kwargs):
         "abb_irb910sc_3_45_moveit_config", "config/moveit_controllers.yaml"
     )
     moveit_controllers = {
-        "moveit_simple_controller_manager": moveit_simple_controllers_yaml,
         "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
+        "moveit_simple_controller_manager": moveit_simple_controllers_yaml["moveit_simple_controller_manager"],
     }
 
     trajectory_execution = {
@@ -128,6 +132,7 @@ def launch_setup(context, *args, **kwargs):
             robot_description,
             robot_description_semantic,
             kinematics_yaml,
+            joint_limits_yaml,
             ompl_planning_pipeline_config,
             trajectory_execution,
             moveit_controllers,

diff --git a/nexus_motion_planner/launch/demo_planner_server.launch.py b/nexus_motion_planner/launch/demo_planner_server.launch.py
@@ -111,7 +111,7 @@ def launch_setup(context, *args, **kwargs):
         moveit_config_package.perform(context), "config/moveit_controllers.yaml"
     )
     moveit_controllers = {
-        "moveit_simple_controller_manager": moveit_simple_controllers_yaml,
+        "moveit_simple_controller_manager": moveit_simple_controllers_yaml["moveit_simple_controller_manager"],
         "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
     }