Added option to publish SRDF file. #1089
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Added argument to the launch file that can toggle the ability to publish the contents of the SRDF on the topic /robot_description_semantic. This allows the launch file to be used with custom moveit2 projects without having to source the SRDF for every launched node.
|
Because #1036 only applies to the main branch which fails to build on ros2 humble. This request applies that same change to the humble branch which is useful for projects still running on humble due to its long term support. |
|
Sorry, my comment was misleading. I was basically making two statements. The first being the backport of #1036. I'll make my second statement in-code to make it clear. |
fmauch
reviewed
Sep 4, 2024
Co-authored-by: Felix Exner (fexner) <felix_mauch@web.de>
|
I agree with keeping the default value as True. The only reason I initially set it to False was to avoid changing to default API in case there is some obscure situation where publishing it resulted in certain worksflows failing to complete. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Added argument to the launch file that can toggle the ability to publish the contents of the SRDF on the topic /robot_description_semantic. This allows the launch file to be used with custom moveit2 projects without having to source the SRDF for every launched node.
See following link for details: https://moveit.picknik.ai/humble/doc/examples/urdf_srdf/urdf_srdf_tutorial.html#string-topic-specification
Note: The default behaviour of not publishing this topic has been maintained, but now users have the option publish it if needed.