From c72491fd1dc7c56cbc6209d2615d7c2d5a013c4b Mon Sep 17 00:00:00 2001
From: Felix Maisonneuve <fmaisonneuve@kinova.ca>
Date: Fri, 16 Jul 2021 07:41:56 -0400
Subject: [PATCH 1/2] add modifications from PRs in melodic-devel

---
 kortex_driver/package.xml                      | 7 +++++++
 kortex_gazebo/launch/spawn_kortex_robot.launch | 4 +++-
 kortex_gazebo/package.xml                      | 1 +
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/kortex_driver/package.xml b/kortex_driver/package.xml
index fe4eb714..7599628b 100644
--- a/kortex_driver/package.xml
+++ b/kortex_driver/package.xml
@@ -30,6 +30,13 @@
   <build_depend>message_generation</build_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>message_generation</exec_depend>
+  <exec_depend>gen3_move_it_config</exec_depend>
+  <exec_depend>gen3_robotiq_2f_85_move_it_config</exec_depend>
+  <exec_depend>gen3_robotiq_2f_140_move_it_config</exec_depend>
+  <exec_depend>gen3_lite_gen3_lite_2f_move_it_config</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>rostest</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/kortex_gazebo/launch/spawn_kortex_robot.launch b/kortex_gazebo/launch/spawn_kortex_robot.launch
index aa911ddd..4f5e0d7c 100644
--- a/kortex_gazebo/launch/spawn_kortex_robot.launch
+++ b/kortex_gazebo/launch/spawn_kortex_robot.launch
@@ -29,6 +29,8 @@
     <arg name="use_sim_time" default="true"/>
     <arg name="debug" default="false" />
     <arg name="paused" default="true"/>
+
+    <arg name="enable_test" default="true"/>
     
     <!-- Start Gazebo -->
     <include file="$(find kortex_gazebo)/launch/start_gazebo.launch" if="$(arg start_gazebo)">
@@ -156,7 +158,7 @@
         </node>
 
         <!-- Test if homing the robot with MoveIt ended correctly -->
-        <test test-name="paramtest_gazebo_initialization" pkg="rostest" type="paramtest">
+        <test if="$(arg enable_test)" test-name="paramtest_gazebo_initialization" pkg="rostest" type="paramtest">
             <param name="param_name_target" value="is_initialized" />
             <param name="param_value_expected" value="true" />
             <param name="wait_time" value="60" />
diff --git a/kortex_gazebo/package.xml b/kortex_gazebo/package.xml
index 850ac4da..92a2d244 100644
--- a/kortex_gazebo/package.xml
+++ b/kortex_gazebo/package.xml
@@ -10,6 +10,7 @@
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roslaunch</build_depend>
+  <run_depend>kortex_control</run_depend>
   <run_depend>kortex_driver</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>rviz</run_depend>

From 804665e28a9cba106320666badcebd152814f838 Mon Sep 17 00:00:00 2001
From: Felix Maisonneuve <fmaisonneuve@kinova.ca>
Date: Fri, 16 Jul 2021 10:53:24 -0400
Subject: [PATCH 2/2] removed unecessary argument

---
 kortex_gazebo/launch/spawn_kortex_robot.launch | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/kortex_gazebo/launch/spawn_kortex_robot.launch b/kortex_gazebo/launch/spawn_kortex_robot.launch
index 4f5e0d7c..fc03cdbe 100644
--- a/kortex_gazebo/launch/spawn_kortex_robot.launch
+++ b/kortex_gazebo/launch/spawn_kortex_robot.launch
@@ -30,8 +30,6 @@
     <arg name="debug" default="false" />
     <arg name="paused" default="true"/>
 
-    <arg name="enable_test" default="true"/>
-    
     <!-- Start Gazebo -->
     <include file="$(find kortex_gazebo)/launch/start_gazebo.launch" if="$(arg start_gazebo)">
             <arg name="gui" value="$(arg gazebo_gui)"/>
@@ -158,7 +156,7 @@
         </node>
 
         <!-- Test if homing the robot with MoveIt ended correctly -->
-        <test if="$(arg enable_test)" test-name="paramtest_gazebo_initialization" pkg="rostest" type="paramtest">
+        <test test-name="paramtest_gazebo_initialization" pkg="rostest" type="paramtest">
             <param name="param_name_target" value="is_initialized" />
             <param name="param_value_expected" value="true" />
             <param name="wait_time" value="60" />