Fix requested changes

ros-industrial · Jan 10, 2017 · 38aa314 · 38aa314
1 parent 5e13088
commit 38aa314
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Showing 4 changed files with 84 additions and 541 deletions.
diff --git a/abb_irb6640_moveit_config/config/joint_limits.yaml b/abb_irb6640_moveit_config/config/joint_limits.yaml
@@ -2,33 +2,33 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
+  joint_2:
+    has_velocity_limits: true
+    max_velocity: 1.5707
+    has_acceleration_limits: true
+    max_acceleration: 0.31414
+  joint_6:
+    has_velocity_limits: true
+    max_velocity: 3.3161
+    has_acceleration_limits: true
+    max_acceleration: 0.66322
   joint_1:
     has_velocity_limits: true
     max_velocity: 1.7453
-    has_acceleration_limits: false
-    max_acceleration: 0
-  joint_2:
+    has_acceleration_limits: true
+    max_acceleration: 0.34906
+  joint_5:
     has_velocity_limits: true
-    max_velocity: 1.5707
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 2.4435
+    has_acceleration_limits: true
+    max_acceleration: 0.4887
   joint_3:
     has_velocity_limits: true
     max_velocity: 1.5707
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 0.31414
   joint_4:
     has_velocity_limits: true
     max_velocity: 2.9671
-    has_acceleration_limits: false
-    max_acceleration: 0
-  joint_5:
-    has_velocity_limits: true
-    max_velocity: 2.4435
-    has_acceleration_limits: false
-    max_acceleration: 0
-  joint_6:
-    has_velocity_limits: true
-    max_velocity: 3.3161
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 0.59342
diff --git a/abb_irb6640_moveit_config/launch/default_warehouse_db.launch b/abb_irb6640_moveit_config/launch/default_warehouse_db.launch
@@ -2,9 +2,12 @@
 
   <arg name="reset" default="false"/>
 
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find abb_irb6640_moveit_config)/default_warehouse_mongo_db" />
+
   <!-- Launch the warehouse with a default database location -->  
   <include file="$(find abb_irb6640_moveit_config)/launch/warehouse.launch">
-    <arg name="moveit_warehouse_database_path" value="$(find abb_irb6640_moveit_config)/default_warehouse_mongo_db" />
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
   </include>
 
   <!-- If we want to reset the database, run this node -->