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Sagar Rajendran
panda_moveit_config
Commits
710ca8b6
Commit
710ca8b6
authored
5 years ago
by
Dave Coleman
Committed by
Robert Haschke
5 years ago
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Remove deprecated inorder tag to fix warning (#36)
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4efd960c
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launch/planning_context.launch
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-6
6 additions, 6 deletions
launch/planning_context.launch
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launch/planning_context.launch
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6
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6
View file @
710ca8b6
...
...
@@ -8,13 +8,13 @@
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro
--inorder
'$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
<param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro
--inorder
'$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
<param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro
--inorder
'$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
<param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro
--inorder
'$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
<param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
<param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml"/>
...
...
@@ -24,5 +24,5 @@
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</group>
</launch>
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