From b009b3974c183ba458488d7bed2e615aaa32cd7a Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Thu, 23 Feb 2023 15:49:03 +0200 Subject: [PATCH] Fix startup of MotionSequenceAction capability --- src/lite6_controller/launch/lite6_gazebo.launch.py | 7 ++++++- src/lite6_controller/launch/lite6_real.launch.py | 6 +++++- src/lite6_controller/launch/lite6_real_no_gui.launch.py | 6 +++++- 3 files changed, 16 insertions(+), 3 deletions(-) diff --git a/src/lite6_controller/launch/lite6_gazebo.launch.py b/src/lite6_controller/launch/lite6_gazebo.launch.py index 66a6f26..5cc3740 100644 --- a/src/lite6_controller/launch/lite6_gazebo.launch.py +++ b/src/lite6_controller/launch/lite6_gazebo.launch.py @@ -371,10 +371,14 @@ def launch_setup(context, *args, **kwargs): 'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner', 'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", "default_planner_config": "PTP", - "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService", } } + move_group_capabilities = { + "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService" + } + + # Moveit controllers Configuration moveit_controllers = { @@ -420,6 +424,7 @@ def launch_setup(context, *args, **kwargs): robot_description_parameters, #ompl_planning_pipeline_config, pilz_planning_pipeline_config, + move_group_capabilities, trajectory_execution, plan_execution, moveit_controllers, diff --git a/src/lite6_controller/launch/lite6_real.launch.py b/src/lite6_controller/launch/lite6_real.launch.py index 3a0e065..716008f 100644 --- a/src/lite6_controller/launch/lite6_real.launch.py +++ b/src/lite6_controller/launch/lite6_real.launch.py @@ -233,10 +233,13 @@ def launch_setup(context, *args, **kwargs): 'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner', 'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", "default_planner_config": "PTP", - "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService", } } + move_group_capabilities = { + "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService" + } + # Start the actual move_group node/action server move_group_node = Node( package='moveit_ros_move_group', @@ -246,6 +249,7 @@ def launch_setup(context, *args, **kwargs): robot_description_parameters, #ompl_planning_pipeline_config, pilz_planning_pipeline_config, + move_group_capabilities, trajectory_execution, plan_execution, moveit_controllers, 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 76fa872..13af15a 100644 --- a/src/lite6_controller/launch/lite6_real_no_gui.launch.py +++ b/src/lite6_controller/launch/lite6_real_no_gui.launch.py @@ -198,10 +198,13 @@ def launch_setup(context, *args, **kwargs): 'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner', 'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", "default_planner_config": "PTP", - "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService", } } + move_group_capabilities = { + "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService" + } + # Moveit controllers Configuration moveit_controllers = { moveit_controller_manager_key.perform(context): controllers_yaml, @@ -246,6 +249,7 @@ def launch_setup(context, *args, **kwargs): robot_description_parameters, #ompl_planning_pipeline_config, pilz_planning_pipeline_config, + move_group_capabilities, trajectory_execution, plan_execution, moveit_controllers,