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Fix startup of MotionSequenceAction capability

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This commit is contained in:
Nicolas Hiillos
2023-02-23 15:49:03 +02:00
parent 63b17f95e3
commit b009b3974c
3 changed files with 16 additions and 3 deletions
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6
src/lite6_controller/launch/lite6_real.launch.py
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@@ -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,