Add interactive marker to moveit example launch file (backport #205)

kroshu · Dec 20, 2024 · 140c853 · 140c853
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commit 140c853
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Showing 4 changed files with 16 additions and 7 deletions.
diff --git a/.github/workflows/industrial_ci_humble.yml b/.github/workflows/industrial_ci_humble.yml
@@ -53,7 +53,7 @@ jobs:
           ref: humble
 
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}

diff --git a/.github/workflows/industrial_ci_jazzy.yml b/.github/workflows/industrial_ci_jazzy.yml
@@ -54,7 +54,7 @@ jobs:
         with:
           fetch-depth: 0
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -86,7 +86,7 @@ repos:
         name: ament_cppcheck
         exclude: .*/fri_client_sdk/.*|.*/mock/.*
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=TRUE ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -98,7 +98,7 @@ repos:
         name: ament_cpplint
         exclude: .*/fri_client_sdk/.*|.*/mock/.*
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -110,7 +110,7 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists\.txt$
@@ -122,7 +122,7 @@ repos:
         name: ament_copyright
         exclude: .*/fri_client_sdk/.*|.*/mock/.*
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
 

diff --git a/examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py b/examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py
@@ -71,9 +71,15 @@ def launch_setup(context, *args, **kwargs):
     )
 
     rviz_config_file = (
-        get_package_share_directory("kuka_resources") + "/config/view_6_axis_planning_scene.rviz"
+        get_package_share_directory("kuka_resources") + "/config/planning_6_axis.rviz"
     )
 
+    robot_description_kinematics = {
+        "robot_description_kinematics": {
+            "manipulator": {"kinematics_solver": "kdl_kinematics_plugin/KDLKinematicsPlugin"}
+        }
+    }
+
     startup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
@@ -93,6 +99,9 @@ def launch_setup(context, *args, **kwargs):
         name="rviz2",
         output="log",
         arguments=["-d", rviz_config_file, "--ros-args", "--log-level", "error"],
+        parameters=[
+            robot_description_kinematics,
+        ],
     )
 
     to_start = [startup_launch, move_group_server, rviz]