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Use moveit_benchmark_resources database instead of one in the tutorial #769

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merged 4 commits into from
Sep 25, 2023
Merged

Use moveit_benchmark_resources database instead of one in the tutorial #769

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ce37e65
Use moveit_benchmark_resources database instead of one in the tutorial
sjahr Sep 22, 2023
44c5013
Merge branch 'main' into pr-fix_persistant_state_tutorial
sjahr Sep 24, 2023
76a0ba8
Remove unnecessery install commands
sjahr Sep 25, 2023
74bace3
Don't clone moveit_benchmark_resources by default
sjahr Sep 25, 2023
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3 changes: 0 additions & 3 deletions doc/how_to_guides/persistent_scenes_and_states/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,3 @@
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
install(DIRECTORY data
DESTINATION share/${PROJECT_NAME}
)
Binary file removed doc/how_to_guides/persistent_scenes_and_states/data/kitchen_panda_db.sqlite
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4 changes: 2 additions & 2 deletions doc/how_to_guides/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py
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Expand Up @@ -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")
+ "/databases/panda_test_db.sqlite"
)

print(sqlite_database)
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2 changes: 2 additions & 0 deletions doc/how_to_guides/persistent_scenes_and_states/persistent_scenes_and_states.rst
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Expand Up @@ -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 ::

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4 changes: 4 additions & 0 deletions moveit2_tutorials.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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