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Addresses warnings on moveit launch #11

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merged 1 commit into from
Nov 5, 2016
Merged

Addresses warnings on moveit launch #11

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10 changes: 10 additions & 0 deletions sawyer_moveit_config/.setup_assistant
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
moveit_setup_assistant_config:
URDF:
package: sawyer_description
relative_path: urdf/sawyer.urdf
SRDF:
relative_path: srdf/sawyer.srdf.xacro
CONFIG:
author_name: Rethink Robotics Inc.
author_email: [email protected]
generated_timestamp: 1478278031
4 changes: 3 additions & 1 deletion sawyer_moveit_config/CMakeLists.txt
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Expand Up @@ -5,5 +5,7 @@ find_package(catkin REQUIRED)

catkin_package()

install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY srdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
20 changes: 10 additions & 10 deletions sawyer_moveit_config/launch/move_group.launch
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Expand Up @@ -53,16 +53,16 @@

<!-- MoveGroup capabilities to load -->
<param name="capabilities" value="move_group/MoveGroupCartesianPathService
move_group/MoveGroupExecuteService
move_group/MoveGroupKinematicsService
move_group/MoveGroupMoveAction
move_group/MoveGroupPickPlaceAction
move_group/MoveGroupPlanService
move_group/MoveGroupQueryPlannersService
move_group/MoveGroupStateValidationService
move_group/MoveGroupGetPlanningSceneService
move_group/ClearOctomapService
" />
move_group/MoveGroupExecuteTrajectoryAction
move_group/MoveGroupKinematicsService
move_group/MoveGroupMoveAction
move_group/MoveGroupPickPlaceAction
move_group/MoveGroupPlanService
move_group/MoveGroupQueryPlannersService
move_group/MoveGroupStateValidationService
move_group/MoveGroupGetPlanningSceneService
move_group/ClearOctomapService
" />

<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
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2 changes: 1 addition & 1 deletion sawyer_moveit_config/launch/planning_context.launch
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Expand Up @@ -19,7 +19,7 @@

<!-- The semantic description that corresponds to the URDF -->
<param name="robot_description_semantic"
command="$(find xacro)/xacro.py --inorder $(find sawyer_moveit_config)/srdf/sawyer.srdf.xacro
command="$(find xacro)/xacro --inorder $(find sawyer_moveit_config)/srdf/sawyer.srdf.xacro
electric_gripper:=$(arg electric_gripper)
tip_name:=$(arg tip_name)
controller_box:=$(arg controller_box)"/>
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5 changes: 5 additions & 0 deletions sawyer_moveit_config/package.xml
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Expand Up @@ -18,6 +18,7 @@

<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
Expand All @@ -26,6 +27,10 @@
<run_depend>sawyer_description</run_depend>


<!-- This package is referenced in the warehouse launch files,
but does not build out of the box at the moment. Commented
the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<buildtool_depend>catkin</buildtool_depend>

</package>