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fix move_group_capabilities usage #3018

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merged 5 commits into from
Oct 14, 2024
Merged

fix move_group_capabilities usage #3018

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d864d9c
fix move_group_capabilities usage
mikeferguson Oct 2, 2024
483df1d
formatting as recommended by CI
mikeferguson Oct 2, 2024
8df398a
Merge branch 'main' into capabilities
mikeferguson Oct 11, 2024
eca8d0b
Merge branch 'main' into capabilities
sjahr Oct 11, 2024
ccac6f9
Merge branch 'main' into capabilities
sjahr Oct 14, 2024
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7 changes: 6 additions & 1 deletion moveit_configs_utils/moveit_configs_utils/launches.py
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,12 @@ def generate_move_group_launch(moveit_config):
)
)
# inhibit these default MoveGroup capabilities (space separated)
ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
ld.add_action(
DeclareLaunchArgument(
"disable_capabilities",
default_value=moveit_config.move_group_capabilities["disable_capabilities"],
)
)

# do not copy dynamics information from /joint_states to internal robot monitoring
# default to false, because almost nothing in move_group relies on this information
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4 changes: 3 additions & 1 deletion moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
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Expand Up @@ -108,7 +108,9 @@ class MoveItConfigs:
# A dictionary that has the sensor 3d configuration parameters.
sensors_3d: Dict = field(default_factory=dict)
# A dictionary containing move_group's non-default capabilities.
move_group_capabilities: Dict = field(default_factory=dict)
move_group_capabilities: Dict = field(
default_factory=lambda: {"capabilities": "", "disable_capabilities": ""}
)
# A dictionary containing the overridden position/velocity/acceleration limits.
joint_limits: Dict = field(default_factory=dict)
# A dictionary containing MoveItCpp related parameters.
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