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base: nic:async_trajectory
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nic:dev nic:async_trajectory nic:master
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compare: nic:2e28c4e99fe334ece009cc7f242ac23d3bea6943
Branches Tags
nic:dev nic:async_trajectory nic:master

1 Commits
async_traj ... 2e28c4e99f

Author SHA1 Message Date
Nicolas Hiillos
2e28c4e99f Switch to custom xarm packages 2023-03-27 14:30:44 +03:00
2 changed files with 8 additions and 8 deletions
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8
src/lite6_controller/launch/lite6_real.launch.py
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@@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
# robot description launch # robot description launch
# xarm_description/launch/_robot_description.launch.py # xarm_description/launch/_robot_description.launch.py
robot_description_launch = IncludeLaunchDescription( 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={ launch_arguments={
'prefix': prefix, 'prefix': prefix,
'hw_ns': hw_ns, 'hw_ns': hw_ns,
@@ -105,12 +105,12 @@ def launch_setup(context, *args, **kwargs):
# robot_description_parameters # robot_description_parameters
# xarm_moveit_config/launch/lib/robot_moveit_config_lib.py # 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')) 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') get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
robot_description_parameters = 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_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']), xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
urdf_arguments={ urdf_arguments={
'prefix': prefix, 'prefix': prefix,
'hw_ns': hw_ns.perform(context).strip('/'), 'hw_ns': hw_ns.perform(context).strip('/'),

8
src/lite6_controller/launch/lite6_real_no_gui.launch.py
View File

@@ -75,7 +75,7 @@ def launch_setup(context, *args, **kwargs):
# robot description launch # robot description launch
# xarm_description/launch/_robot_description.launch.py # xarm_description/launch/_robot_description.launch.py
robot_description_launch = IncludeLaunchDescription( 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={ launch_arguments={
'prefix': prefix, 'prefix': prefix,
'hw_ns': hw_ns, 'hw_ns': hw_ns,
@@ -105,12 +105,12 @@ def launch_setup(context, *args, **kwargs):
# robot_description_parameters # robot_description_parameters
# xarm_moveit_config/launch/lib/robot_moveit_config_lib.py # 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')) 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') get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
robot_description_parameters = 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_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']), xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
urdf_arguments={ urdf_arguments={
'prefix': prefix, 'prefix': prefix,
'hw_ns': hw_ns.perform(context).strip('/'), 'hw_ns': hw_ns.perform(context).strip('/'),