Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix for issue #169: load xacros in MoveIt cfgs instead of urdfs #170

Closed
wants to merge 2 commits into from
Closed

Fix for issue #169: load xacros in MoveIt cfgs instead of urdfs #170

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e8b3b92
moveit_cfg: load xacros instead of urdfs.
gavanderhoorn Jun 29, 2015
cda90fb
Load xacro in client launch files, not planning_context.
gavanderhoorn Jul 3, 2015
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic5h_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_lrmate200ic_support
relative_path: urdf/lrmate200ic5h.urdf
relative_path: urdf/lrmate200ic5h.xacro
SRDF:
relative_path: config/fanuc_lrmate200ic5h.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_lrmate200ic5h_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic5h.launch" />
<include file="$(find fanuc_lrmate200ic5h_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_lrmate200ic5h_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_lrmate200ic5h_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_lrmate200ic5h_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic5h.launch" />
<include file="$(find fanuc_lrmate200ic5h_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic5h_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5h.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5h.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ic5h_moveit_config)/config/fanuc_lrmate200ic5h.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic5l_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_lrmate200ic_support
relative_path: urdf/lrmate200ic5l.urdf
relative_path: urdf/lrmate200ic5l.xacro
SRDF:
relative_path: config/fanuc_lrmate200ic5l.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_lrmate200ic5l_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic5l.launch" />
<include file="$(find fanuc_lrmate200ic5l_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_lrmate200ic5l_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_lrmate200ic5l_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_lrmate200ic5l_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic5l.launch" />
<include file="$(find fanuc_lrmate200ic5l_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic5l_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5l.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic5l.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ic5l_moveit_config)/config/fanuc_lrmate200ic5l.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_lrmate200ic_support
relative_path: urdf/lrmate200ic.urdf
relative_path: urdf/lrmate200ic.xacro
SRDF:
relative_path: config/fanuc_lrmate200ic.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_lrmate200ic_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic.launch" />
<include file="$(find fanuc_lrmate200ic_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_lrmate200ic_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_lrmate200ic_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_lrmate200ic_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_lrmate200ic_support)/launch/load_lrmate200ic.launch" />
<include file="$(find fanuc_lrmate200ic_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false"/>
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_lrmate200ic_support)/urdf/lrmate200ic.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_lrmate200ic_moveit_config)/config/fanuc_lrmate200ic.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m10ia_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_m10ia_support
relative_path: urdf/m10ia.urdf
relative_path: urdf/m10ia.xacro
SRDF:
relative_path: config/fanuc_m10ia.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_m10ia_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia.launch" />
<include file="$(find fanuc_m10ia_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_m10ia_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_m10ia_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_m10ia_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_m10ia_support)/launch/load_m10ia.launch" />
<include file="$(find fanuc_m10ia_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m10ia_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_m10ia_support)/urdf/m10ia.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_m10ia_support)/urdf/m10ia.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m10ia_moveit_config)/config/fanuc_m10ia.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m16ib20_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_m16ib_support
relative_path: urdf/m16ib20.urdf
relative_path: urdf/m16ib20.xacro
SRDF:
relative_path: config/fanuc_m16ib20.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_m16ib20_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_m16ib_support)/launch/load_m16ib20.launch" />
<include file="$(find fanuc_m16ib20_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_m16ib20_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_m16ib20_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_m16ib20_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_m16ib_support)/launch/load_m16ib20.launch" />
<include file="$(find fanuc_m16ib20_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m16ib20_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_m16ib_support)/urdf/m16ib20.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_m16ib_support)/urdf/m16ib20.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m16ib20_moveit_config)/config/fanuc_m16ib20.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m20ia10l_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_m20ia_support
relative_path: urdf/m20ia10l.urdf
relative_path: urdf/m20ia10l.xacro
SRDF:
relative_path: config/fanuc_m20ia10l.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_m20ia10l_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_m20ia_support)/launch/load_m20ia10l.launch" />
<include file="$(find fanuc_m20ia10l_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_m20ia10l_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_m20ia10l_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_m20ia10l_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_m20ia_support)/launch/load_m20ia10l.launch" />
<include file="$(find fanuc_m20ia10l_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m20ia10l_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_m20ia_support)/urdf/m20ia10l.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_m20ia_support)/urdf/m20ia10l.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m20ia10l_moveit_config)/config/fanuc_m20ia10l.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m20ia_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_m20ia_support
relative_path: urdf/m20ia.urdf
relative_path: urdf/m20ia.xacro
SRDF:
relative_path: config/fanuc_m20ia.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_m20ia_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_m20ia_support)/launch/load_m20ia.launch" />
<include file="$(find fanuc_m20ia_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_m20ia_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_m20ia_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_m20ia_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_m20ia_support)/launch/load_m20ia.launch" />
<include file="$(find fanuc_m20ia_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m20ia_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_m20ia_support)/urdf/m20ia.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_m20ia_support)/urdf/m20ia.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m20ia_moveit_config)/config/fanuc_m20ia.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m430ia2f_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_m430ia_support
relative_path: urdf/m430ia2f.urdf
relative_path: urdf/m430ia2f.xacro
SRDF:
relative_path: config/fanuc_m430ia2f.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_m430ia2f_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_m430ia_support)/launch/load_m430ia2f.launch" />
<include file="$(find fanuc_m430ia2f_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_m430ia2f_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_m430ia2f_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_m430ia2f_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_m430ia_support)/launch/load_m430ia2f.launch" />
<include file="$(find fanuc_m430ia2f_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m430ia2f_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_m430ia_support)/urdf/m430ia2f.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_m430ia_support)/urdf/m430ia2f.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m430ia2f_moveit_config)/config/fanuc_m430ia2f.srdf" />
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m430ia2p_moveit_config/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: fanuc_m430ia_support
relative_path: urdf/m430ia2p.urdf
relative_path: urdf/m430ia2p.xacro
SRDF:
relative_path: config/fanuc_m430ia2p.srdf
CONFIG:
Expand Down
3 changes: 2 additions & 1 deletion fanuc_m430ia2p_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,9 @@
<arg name="debug" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find fanuc_m430ia_support)/launch/load_m430ia2p.launch" />
<include file="$(find fanuc_m430ia2p_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<arg name="load_robot_description" value="false"/>
</include>

<!-- If needed, broadcast static tf for robot root -->
Expand Down
5 changes: 3 additions & 2 deletions fanuc_m430ia2p_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,9 @@
<arg name="db_path" default="$(find fanuc_m430ia2p_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find fanuc_m430ia2p_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
<include file="$(find fanuc_m430ia_support)/launch/load_m430ia2p.launch" />
<include file="$(find fanuc_m430ia2p_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" />
</include>

<!-- run the robot simulator and action interface nodes -->
Expand Down
2 changes: 1 addition & 1 deletion fanuc_m430ia2p_moveit_config/launch/planning_context.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/>

<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fanuc_m430ia_support)/urdf/m430ia2p.urdf"/>
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find fanuc_m430ia_support)/urdf/m430ia2p.xacro'"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find fanuc_m430ia2p_moveit_config)/config/fanuc_m430ia2p.srdf" />
Expand Down