robossembler/runtime
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tmp fixes in launch files

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This commit is contained in:
Ilya Uraev 2025-03-10 13:49:07 +03:00
parent 9bc4774e8c
commit 6b19b8bb9b
2 changed files with 26 additions and 23 deletions
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16
rbs_bringup/launch/rbs_robot.launch.py
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@ -59,11 +59,11 @@ def launch_setup(context, *args, **kwargs):
"robot_description": robot_description_content.perform(context)
}
robot_description_kinematics_filepath = os.path.join(
get_package_share_directory(moveit_config_package.perform(context)),
"config",
"kinematics.yaml",
)
# robot_description_kinematics_filepath = os.path.join(
# get_package_share_directory(moveit_config_package.perform(context)),
# "moveit",
# "kinematics.yaml",
# )
# robot_description_kinematics = {
# "robot_description_kinematics": robot_description_kinematics
@ -118,8 +118,8 @@ def launch_setup(context, *args, **kwargs):
"tf_prefix": robot_name,
"with_gripper": with_gripper_condition,
"robot_description": robot_description_content,
"robot_description_semantic": robot_description_semantic_content,
"robot_description_kinematics": robot_description_kinematics_filepath,
# "robot_description_semantic": robot_description_semantic_content,
# "robot_description_kinematics": robot_description_kinematics_filepath,
"namespace": namespace,
}.items(),
condition=IfCondition(use_moveit),
@ -140,7 +140,7 @@ def launch_setup(context, *args, **kwargs):
launch_arguments={
"robot_description": robot_description_content,
"robot_description_semantic": robot_description_semantic_content,
"robot_description_kinematics": robot_description_kinematics_filepath,
# "robot_description_kinematics": robot_description_kinematics_filepath,
"use_sim_time": use_sim_time,
"with_gripper_condition": with_gripper_condition,
"namespace": namespace,