Skip to content
This repository has been archived by the owner on Nov 13, 2017. It is now read-only.

Fix for issue #102: allow user to set mongodb db location #103

Merged
merged 1 commit into from Jan 21, 2015
Merged

Fix for issue #102: allow user to set mongodb db location #103

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
6 changes: 4 additions & 2 deletions templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
View file
Open in desktop
@@ -1,10 +1,12 @@
<launch>

<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db" />

<!-- Launch the warehouse with a default database location -->
<!-- Launch the warehouse with the configured database location -->
<include file="$(find [GENERATED_PACKAGE_NAME])/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(find [GENERATED_PACKAGE_NAME])/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 -->
Expand Down
12 changes: 8 additions & 4 deletions templates/moveit_config_pkg_template/launch/demo.launch
View file
Open in desktop
Expand Up @@ -2,6 +2,8 @@

<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db" />

<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
Expand All @@ -16,16 +18,16 @@

<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
</node>

<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find [GENERATED_PACKAGE_NAME])/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
Expand All @@ -38,6 +40,8 @@
</include>

<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find [GENERATED_PACKAGE_NAME])/launch/default_warehouse_db.launch" if="$(arg db)"/>
<include file="$(find [GENERATED_PACKAGE_NAME])/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

</launch>