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Added option to publish SRDF file. #1089

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merged 2 commits into from
Sep 5, 2024
Merged

Added option to publish SRDF file. #1089

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4be9606
Added option to publish SRDF file.
v-marsh Aug 28, 2024
d5ca84f
Update ur_moveit_config/launch/ur_moveit.launch.py
v-marsh Sep 5, 2024
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11 changes: 11 additions & 0 deletions ur_moveit_config/launch/ur_moveit.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,7 @@ def launch_setup(context, *args, **kwargs):
# General arguments
description_package = LaunchConfiguration("description_package")
description_file = LaunchConfiguration("description_file")
_publish_robot_description_semantic = LaunchConfiguration("publish_robot_description_semantic")
moveit_config_package = LaunchConfiguration("moveit_config_package")
moveit_joint_limits_file = LaunchConfiguration("moveit_joint_limits_file")
moveit_config_file = LaunchConfiguration("moveit_config_file")
Expand Down Expand Up @@ -143,6 +144,8 @@ def launch_setup(context, *args, **kwargs):
)
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}

publish_robot_description_semantic = {"publish_robot_description_semantic": _publish_robot_description_semantic}

robot_description_kinematics = PathJoinSubstitution(
[FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
)
Expand Down Expand Up @@ -205,6 +208,7 @@ def launch_setup(context, *args, **kwargs):
parameters=[
robot_description,
robot_description_semantic,
publish_robot_description_semantic,
robot_description_kinematics,
robot_description_planning,
ompl_planning_pipeline_config,
Expand Down Expand Up @@ -312,6 +316,13 @@ def generate_launch_description():
description="URDF/XACRO description file with the robot.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"publish_robot_description_semantic",
default_value="False",
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description="Whether to publish the SRDF description on topic /robot_description_semantic."
)
)
declared_arguments.append(
DeclareLaunchArgument(
"moveit_config_package",
Expand Down