Use moveit_benchmark_resources database instead of one in the tutorial

moveit · Sep 22, 2023 · 9cc9696 · 9cc9696
1 parent 1e62aac
commit 9cc9696
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Showing 4 changed files with 8 additions and 2 deletions.
diff --git a/doc/how_to_guides/persistent_scenes_and_states/data/kitchen_panda_db.sqlite b/doc/how_to_guides/persistent_scenes_and_states/data/kitchen_panda_db.sqlite
diff --git a/doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py b/doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py
@@ -15,8 +15,8 @@ def generate_launch_description():
     )
 
     sqlite_database = (
-        get_package_share_directory("moveit2_tutorials")
-        + "/data/kitchen_panda_db.sqlite"
+        get_package_share_directory("moveit_benchmark_resources")
+        + "/config/panda_test_db.sqlite"
     )
 
     print(sqlite_database)

diff --git a/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst b/doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst
@@ -32,6 +32,8 @@ If the database file does not exist yet, an empty database will be created.
 Connecting to the storage backend
 ---------------------------------
 
+To run the demo you need to install git lfs by running ``git lfs install`` and clone [moveit_benchmark_resources](https://github.com/ros-planning/moveit_benchmark_resources.git) into your workspace.
+
 After choosing the storage plugin and configuring the launch.py file,
 run RViz using ::
 

diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos
@@ -24,6 +24,10 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_resources
     version: ros2
+  moveit_benchmark_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_benchmark_resources.git
+    version: main
   moveit_msgs:
     type: git
     url: https://github.com/ros-planning/moveit_msgs