Fix composable nodes

moveit · Feb 2, 2022 · 484b0f7 · 484b0f7
1 parent c088888
commit 484b0f7
Showing 1 changed file with 4 additions and 15 deletions.
diff --git a/moveit_ros/hybrid_planning/test/launch/hybrid_planning_common.py b/moveit_ros/hybrid_planning/test/launch/hybrid_planning_common.py
@@ -143,25 +143,14 @@ def generate_common_hybrid_launch_description():
             ),
             ComposableNode(
                 package="tf2_ros",
-                executable="static_transform_publisher",
-                name="static_transform_publisher",
-                output="log",
-                arguments=[
-                    "0.0",
-                    "0.0",
-                    "0.0",
-                    "0.0",
-                    "0.0",
-                    "0.0",
-                    "world",
-                    "panda_link0",
-                ],
+                plugin="tf2_ros::StaticTransformBroadcasterNode",
+                name="static_tf2_broadcaster",
+                parameters=[{"/child_frame_id": "panda_link0", "/frame_id": "world"}],
             ),
             ComposableNode(
                 package="robot_state_publisher",
-                executable="robot_state_publisher",
+                plugin="robot_state_publisher::RobotStatePublisher",
                 name="robot_state_publisher",
-                output="both",
                 parameters=[robot_description],
             ),
         ],