Remove param declarations, rename demo_controller file and fix launch…

… file
moveit · Oct 19, 2021 · a371886 · a371886
1 parent d506f3a
commit a371886
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Showing 3 changed files with 11 additions and 17 deletions.
diff --git a/...os/hybrid_planning/global_planner/global_planner_plugins/src/moveit_planning_pipeline.cpp b/...os/hybrid_planning/global_planner/global_planner_plugins/src/moveit_planning_pipeline.cpp
@@ -53,21 +53,6 @@ const std::string UNDEFINED = "<undefined>";
 
 bool MoveItPlanningPipeline::initialize(const rclcpp::Node::SharedPtr& node)
 {
-  // Declare planning_scene_monitor parameter
-  node->declare_parameter<std::string>(PLANNING_SCENE_MONITOR_NS + "name", std::string("planning_scene_monitor"));
-  node->declare_parameter<std::string>(PLANNING_SCENE_MONITOR_NS + "robot_description",
-                                       std::string("robot_description"));
-  node->declare_parameter<std::string>(PLANNING_SCENE_MONITOR_NS + "joint_state_topic",
-                                       planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC);
-  node->declare_parameter<std::string>(
-      PLANNING_SCENE_MONITOR_NS + "attached_collision_object_topic",
-      planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC);
-  node->declare_parameter<std::string>(PLANNING_SCENE_MONITOR_NS + "monitored_planning_scene_topic",
-                                       planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC);
-  node->declare_parameter<std::string>(PLANNING_SCENE_MONITOR_NS + "publish_planning_scene_topic",
-                                       planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC);
-  node->declare_parameter<double>(PLANNING_SCENE_MONITOR_NS + "wait_for_initial_state_timeout", 0.0);
-
   // Declare planning pipeline paramter
   node->declare_parameter<std::vector<std::string>>(PLANNING_PIPELINES_NS + "pipeline_names",
                                                     std::vector<std::string>({ "ompl" }));
@@ -88,7 +73,6 @@ bool MoveItPlanningPipeline::initialize(const rclcpp::Node::SharedPtr& node)
 
   // Initialize MoveItCpp API
   moveit_cpp_ = std::make_shared<moveit_cpp::MoveItCpp>(node);
-
   return true;
 }
 

diff --git a/...planning/test/config/demo_controller.yaml → ...lanning/test/config/demo_controllers.yaml b/...planning/test/config/demo_controller.yaml → ...lanning/test/config/demo_controllers.yaml
diff --git a/moveit_ros/hybrid_planning/test/launch/hybrid_planning.launch.py b/moveit_ros/hybrid_planning/test/launch/hybrid_planning.launch.py
@@ -65,6 +65,14 @@ def generate_launch_description():
     )
     ompl_planning_pipeline_config["ompl"].update(ompl_planning_yaml)
 
+    moveit_simple_controllers_yaml = load_yaml(
+        "moveit_resources_panda_moveit_config", "config/panda_controllers.yaml"
+    )
+    moveit_controllers = {
+        "moveit_simple_controller_manager": moveit_simple_controllers_yaml,
+        "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
+    }
+
     global_planner_param = load_yaml(
         "moveit_hybrid_planning", "config/global_planner.yaml"
     )
@@ -92,6 +100,7 @@ def generate_launch_description():
                     robot_description_semantic,
                     kinematics_yaml,
                     ompl_planning_pipeline_config,
+                    moveit_controllers,
                 ],
             ),
             ComposableNode(
@@ -153,6 +162,7 @@ def generate_launch_description():
         "config",
         "demo_controller.yaml",
     )
+
     ros2_control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
@@ -171,7 +181,7 @@ def generate_launch_description():
     ]:
         load_controllers += [
             ExecuteProcess(
-                cmd=["ros2 run controller_manager spawner {}".format(controller)],
+                cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
                 shell=True,
                 output="screen",
             )