Refactor MoveIt Launch files #162
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manually merge and resolve conflicts from PR #155 Signed-off-by: Alex Moriarty <alex.moriarty@picknik.ai>
moriarty
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Aug 2, 2023
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Resolve #161
This PR address the issue with default launch arguments not being respected properly because of the use of the MoveIt Config Builders launch functions. The launch files have now been refactored and default values are now respected.
Didn't update the README because this makes the readme commands accurate.
I also added the launch argument for
use_internal_bus_gripper_command defaulted it totrueso that the gripper's command interface is loaded properly.Testing:
Run the following launch command that is also found in the readme. This should launch without giving an error about missing parameters and the arm should be able to be commanded
ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \ robot_ip:=$(YOUR_ROBOT_IP)