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[MSA] Generate More New Launch Files (moveit#1213)
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DLu committed Jun 13, 2022
1 parent 3821c2c commit de4b979
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Showing 12 changed files with 13 additions and 342 deletions.
13 changes: 13 additions & 0 deletions moveit_setup_assistant/moveit_setup_app_plugins/src/launches.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,19 @@ void Launches::onInit()
"moveit_rviz", { "rviz2", "rviz_common", "rviz_default_plugins", "moveit_ros_visualization" }));
available_launch_bundles_.back().addFile(
"config/moveit.rviz", "Configuration file for Rviz with the Motion Planning Plugin already setup.");
available_launch_bundles_.push_back(LaunchBundle(
"MoveGroup Launch", "Launch file to run the main MoveIt executable that provides the MoveGroup action",
"move_group", { "moveit_ros_move_group" }));
available_launch_bundles_.push_back(LaunchBundle("Static TF Launch",
"Launch file to broadcast static TF for the robot's virtual joints.",
"static_virtual_joint_tfs", { "tf2_ros" }));
available_launch_bundles_.push_back(LaunchBundle("Spawn Controllers Launch",
"Launch file to spawn the necessary controllers",
"spawn_controllers", { "controller_manager" }));
available_launch_bundles_.push_back(LaunchBundle("Demo Launch",
"Launch file to run a demo of MoveGroup. Warning that it requires "
"the above launch files to all be generated as well.",
"demo"));

available_launch_bundles_.push_back(LaunchBundle("Setup Assistant Launch",
"Launch file for easily re-starting the MoveIt "
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10 changes: 0 additions & 10 deletions moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -198,16 +198,6 @@ void SRDFConfig::collectVariables(std::vector<TemplateVariable>& variables)
variables.push_back(TemplateVariable("ROBOT_NAME", srdf_.robot_name_));
variables.push_back(TemplateVariable("ROBOT_ROOT_LINK", robot_model_->getRootLinkName()));
variables.push_back(TemplateVariable("PLANNING_FRAME", robot_model_->getModelFrame()));

std::stringstream vjb;
unsigned int counter = 0;
for (const auto& vj : srdf_.virtual_joints_)
{
vjb << " <node pkg=\"tf2_ros\" type=\"static_transform_publisher\" name=\"virtual_joint_broadcaster_" << counter
<< "\" args=\"0 0 0 0 0 0 " << vj.parent_frame_ << " " << vj.child_link_ << "\" />" << std::endl;
counter++;
}
variables.push_back(TemplateVariable("VIRTUAL_JOINT_BROADCASTER", vjb.str()));
}

} // namespace moveit_setup_framework
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68 changes: 0 additions & 68 deletions moveit_setup_assistant/old_assistant/templates/launch/demo.launch

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