Set controller names in Demo pick and place task #582
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Looks like Rolling's MoveIt uses a more relaxed goal constraint threshold than Humble. For this reason, all end states reached by Connect solutions of pick+place demo are rejected. This commit relaxes the max_distance threshold of Connect accordingly.
- Unify move_to.launch.py and test_task_model.launch.py - Rename them to test.launch.py as they are independent of the executable - Move Node creation to the fixture constructor - Replace Task::setRobotModel(loadModel()) with Task::loadRobotModel()
Using quick_exit instead of return/exit avoids calling all cleanup functions, which fail due to a bug in rmw_fastrtps_cpp.
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This warning was not introduced by me and I think it is not well-motivated. Your PR looks good to fix those. However, please target the ros2 branch. |
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If the joints of motion can be executed by multiple controllers (i.e. position, position with compliance, torque) how do you tell MoveIt which one it should use to execute? |
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Often, there is only one controller applicable. Also, we have defaults as far as I remember. The warning should actually only trigger when there is ambiguity. |
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Sorry that rebase didn't go as expected. I'll get this cleaned up and tested the |
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To remove the following warnings when running the Demo Pick and Place task we need to specify the controllers the task should use.