cartesian path fix @josefinemonnet moveit/moveit2/issues/2545

lbr-stack · Dec 29, 2023 · cef18d0 · cef18d0
1 parent 8ab890f
commit cef18d0
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/lbr_bringup/launch/real.launch.py b/lbr_bringup/launch/real.launch.py
@@ -113,15 +113,17 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         rviz_config="config/moveit.rviz",
         parameters=LBRMoveGroupMixin.params_rviz(
             moveit_configs=moveit_configs_builder.to_moveit_configs()
-        ),
+        )
+        + [{"use_sim_time": False}],
         condition=IfCondition(
             AndSubstitution(LaunchConfiguration("moveit"), LaunchConfiguration("rviz"))
         ),
         remappings=[
-            ("robot_description", robot_name + "/robot_description"),
-            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
             ("display_planned_path", robot_name + "/display_planned_path"),
+            ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("robot_description", robot_name + "/robot_description"),
+            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
     )
 

diff --git a/lbr_bringup/launch/sim.launch.py b/lbr_bringup/launch/sim.launch.py
@@ -90,15 +90,17 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         rviz_config="config/moveit.rviz",
         parameters=LBRMoveGroupMixin.params_rviz(
             moveit_configs=moveit_configs_builder.to_moveit_configs()
-        ),
+        )
+        + [{"use_sim_time": True}],
         condition=IfCondition(
             AndSubstitution(LaunchConfiguration("moveit"), LaunchConfiguration("rviz"))
         ),
         remappings=[
-            ("robot_description", robot_name + "/robot_description"),
-            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
             ("display_planned_path", robot_name + "/display_planned_path"),
+            ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("robot_description", robot_name + "/robot_description"),
+            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
     )