Fix missing configs in demo launch files (moveit#509)

ubi-agni · Mar 7, 2024 · 9b4c760 · 9b4c760
1 parent f661c18
commit 9b4c760
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Showing 5 changed files with 5 additions and 2 deletions.
diff --git a/demo/launch/alternative_path_costs.launch.py b/demo/launch/alternative_path_costs.launch.py
@@ -16,6 +16,7 @@ def generate_launch_description():
         executable="alternative_path_costs",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,

diff --git a/demo/launch/cartesian.launch.py b/demo/launch/cartesian.launch.py
@@ -15,6 +15,7 @@ def generate_launch_description():
         executable="cartesian",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,

diff --git a/demo/launch/fallbacks_move_to.launch.py b/demo/launch/fallbacks_move_to.launch.py
@@ -11,13 +11,12 @@ def generate_launch_description():
         .to_moveit_configs()
     )
 
-    print(moveit_config.planning_pipelines)
     fallbacks_move_to_task = Node(
         package="moveit_task_constructor_demo",
         executable="fallbacks_move_to",
         output="screen",
         parameters=[
-            moveit_config.cartesian_limits,
+            moveit_config.pilz_cartesian_limits,
             moveit_config.joint_limits,
             moveit_config.planning_pipelines,
             moveit_config.robot_description,

diff --git a/demo/launch/ik_clearance_cost.launch.py b/demo/launch/ik_clearance_cost.launch.py
@@ -15,6 +15,7 @@ def generate_launch_description():
         executable="ik_clearance_cost",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,

diff --git a/demo/launch/modular.launch.py b/demo/launch/modular.launch.py
@@ -15,6 +15,7 @@ def generate_launch_description():
         executable="modular",
         output="screen",
         parameters=[
+            moveit_config.joint_limits,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,