Parse xacro args from .setup_assistant config in MoveIt Configs Builder #2172
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #2172 +/- ##
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- Coverage 50.49% 50.47% -0.02%
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Files 387 387
Lines 31790 31790
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- Hits 16050 16043 -7
- Misses 15740 15747 +7 ☔ View full report in Codecov by Sentry. |
moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
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|
Servo tests are flaky, I just retriggered CI |
Gotcha, thanks! |
| if (mappings is None) or all( | ||
| (isinstance(key, str) and isinstance(value, str)) | ||
| for key, value in mappings.items() | ||
| ): | ||
| try: | ||
| self.__moveit_configs.robot_description = { | ||
| self.__robot_description: load_xacro( | ||
| robot_description_file_path, mappings=mappings | ||
| robot_description_file_path, | ||
| mappings=mappings or self.__urdf_xacro_args, |
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Why do we need this or when you assigned mappings on L226 (does 226 need to be removed like Jafar suggested)?
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Yeah, I think that line needs to be removed
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The assignment should be removed now.
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I thought I cut it out of there but I must have accidentally undo'd that change. Thank you @JafarAbdi for cleaning that up for me
moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
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* Parse xacro args from .setup_assistant config in MoveIt Configs Builder (#2172) Co-authored-by: Jafar <jafar.uruc@gmail.com> (cherry picked from commit 79a2fa5) * Fix xacro args loading issue (#2684) * Fixed xacro args loading issue * Formatting fixes with pre-commit action --------- (cherry picked from commit cdb20ae) --------- Co-authored-by: Anthony Baker <abake48@users.noreply.github.com>
Description
Update MoveIt Config Builder to parse xacro_args parameter from MSA generated MoveIt 2 configs that use xacro generated robot descriptions.
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