Support porting of PILZ planner to ROS 2 - 1/2 #10
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sjahr
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| namespace joint_limits_interface | ||
| { | ||
| inline bool declare_parameters(const std::string& joint_name, const rclcpp::Node::SharedPtr& node) | ||
| { | ||
| const std::string param_base_name = "joint_limits." + joint_name; |
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@sjahr I had to add the namespace (in this case robot_description_planning) to const std::string param_base_name to get it running. Same for three other occurrences in this file.
| // If there is something defined for the joint on the parameter server | ||
| if (joint_limits_interface::getJointLimits(joint_model->getName(), nh, joint_limit)) | ||
| // If there is something defined for the joint in the node parameters | ||
| if (::joint_limits_interface::declare_parameters(joint_model->getName(), node) && |
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Is it necessary to declare the parameters here (again?). I got errors due to already declared parameters which caused the PTP planner failing.
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Description
To test the current state, just use the panda_moveit_config's demo launch file and add the pilz planner config to the move group: