Re-add moveit#513

JafarAbdi · Jun 28, 2021 · 779c406 · 779c406
1 parent 5a4a00f
commit 779c406
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp
@@ -207,6 +207,14 @@ void MotionPlanningDisplay::onInitialize()
 {
   PlanningSceneDisplay::onInitialize();
 
+  // Prepare database parameters
+  if (!node_->has_parameter("warehouse_host"))
+    node_->declare_parameter<std::string>("warehouse_host", "127.0.0.1");
+  if (!node_->has_parameter("warehouse_plugin"))
+    node_->declare_parameter<std::string>("warehouse_plugin", "warehouse_ros_mongo::MongoDatabaseConnection");
+  if (!node_->has_parameter("warehouse_port"))
+    node_->declare_parameter<int>("warehouse_port", 33829);
+
   // Planned Path Display
   trajectory_visual_->onInitialize(node_, planning_scene_node_, context_);
   QColor qcolor = attached_body_color_property_->getColor();