From 2e28c4e99fe334ece009cc7f242ac23d3bea6943 Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Mon, 27 Mar 2023 14:30:44 +0300 Subject: [PATCH] Switch to custom xarm packages --- src/lite6_controller/launch/lite6_real.launch.py | 8 ++++---- src/lite6_controller/launch/lite6_real_no_gui.launch.py | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/lite6_controller/launch/lite6_real.launch.py b/src/lite6_controller/launch/lite6_real.launch.py index 5e0acb2..ac3bcbb 100644 --- a/src/lite6_controller/launch/lite6_real.launch.py +++ b/src/lite6_controller/launch/lite6_real.launch.py @@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs): # robot description launch # xarm_description/launch/_robot_description.launch.py robot_description_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])), + PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'launch', '_robot_description.launch.py'])), launch_arguments={ 'prefix': prefix, 'hw_ns': hw_ns, @@ -105,12 +105,12 @@ def launch_setup(context, *args, **kwargs): # robot_description_parameters # xarm_moveit_config/launch/lib/robot_moveit_config_lib.py - moveit_config_package_name = 'xarm_moveit_config' + moveit_config_package_name = 'custom_xarm_moveit_config' mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory(moveit_config_package_name), 'launch', 'lib', 'robot_moveit_config_lib.py')) get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters') robot_description_parameters = get_xarm_robot_description_parameters( - xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']), - xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']), + xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']), + xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']), urdf_arguments={ 'prefix': prefix, 'hw_ns': hw_ns.perform(context).strip('/'), diff --git a/src/lite6_controller/launch/lite6_real_no_gui.launch.py b/src/lite6_controller/launch/lite6_real_no_gui.launch.py index 6d2de17..540eb1b 100644 --- a/src/lite6_controller/launch/lite6_real_no_gui.launch.py +++ b/src/lite6_controller/launch/lite6_real_no_gui.launch.py @@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs): # robot description launch # xarm_description/launch/_robot_description.launch.py robot_description_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_description'), 'launch', '_robot_description.launch.py'])), + PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'launch', '_robot_description.launch.py'])), launch_arguments={ 'prefix': prefix, 'hw_ns': hw_ns, @@ -105,12 +105,12 @@ def launch_setup(context, *args, **kwargs): # robot_description_parameters # xarm_moveit_config/launch/lib/robot_moveit_config_lib.py - moveit_config_package_name = 'xarm_moveit_config' + moveit_config_package_name = 'custom_xarm_moveit_config' mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory(moveit_config_package_name), 'launch', 'lib', 'robot_moveit_config_lib.py')) get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters') robot_description_parameters = get_xarm_robot_description_parameters( - xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']), - xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']), + xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']), + xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']), urdf_arguments={ 'prefix': prefix, 'hw_ns': hw_ns.perform(context).strip('/'),