Merge branch 'humble' into humble

rhaschke · Oct 29, 2024 · 3927b39 · 3927b39
2 parents 4917d50 + f6b82c6
commit 3927b39
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Showing 3 changed files with 11 additions and 4 deletions.
diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -204,7 +204,12 @@ def generate_move_group_launch(moveit_config):
         )
     )
     # inhibit these default MoveGroup capabilities (space separated)
-    ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
+    ld.add_action(
+        DeclareLaunchArgument(
+            "disable_capabilities",
+            default_value=moveit_config.move_group_capabilities["disable_capabilities"],
+        )
+    )
 
     # do not copy dynamics information from /joint_states to internal robot monitoring
     # default to false, because almost nothing in move_group relies on this information

diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
@@ -108,7 +108,9 @@ class MoveItConfigs:
     # A dictionary that has the sensor 3d configuration parameters.
     sensors_3d: Dict = field(default_factory=dict)
     # A dictionary containing move_group's non-default capabilities.
-    move_group_capabilities: Dict = field(default_factory=dict)
+    move_group_capabilities: Dict = field(
+        default_factory=lambda: {"capabilities": "", "disable_capabilities": ""}
+    )
     # A dictionary containing the overridden position/velocity/acceleration limits.
     joint_limits: Dict = field(default_factory=dict)
     # A dictionary containing MoveItCpp related parameters.

diff --git a/moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp b/moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
@@ -296,7 +296,7 @@ bool SRDFConfig::GeneratedJointLimits::writeYaml(YAML::Emitter& emitter)
 
     // Output property
     emitter << YAML::Key << "max_velocity";
-    emitter << YAML::Value << std::min(fabs(b.max_velocity_), fabs(b.min_velocity_));
+    emitter << YAML::Value << static_cast<double>(std::min(fabs(b.max_velocity_), fabs(b.min_velocity_)));
 
     // Output property
     emitter << YAML::Key << "has_acceleration_limits";
@@ -307,7 +307,7 @@ bool SRDFConfig::GeneratedJointLimits::writeYaml(YAML::Emitter& emitter)
 
     // Output property
     emitter << YAML::Key << "max_acceleration";
-    emitter << YAML::Value << std::min(fabs(b.max_acceleration_), fabs(b.min_acceleration_));
+    emitter << YAML::Value << static_cast<double>(std::min(fabs(b.max_acceleration_), fabs(b.min_acceleration_)));
 
     emitter << YAML::EndMap;
   }