From 140c853dbf6d000b9a3bc48799b81884f7ec6c9d Mon Sep 17 00:00:00 2001 From: svastits Date: Fri, 20 Dec 2024 10:20:25 +0100 Subject: [PATCH] Add interactive marker to moveit example launch file (backport #205) --- .github/workflows/industrial_ci_humble.yml | 2 +- .github/workflows/industrial_ci_jazzy.yml | 2 +- .pre-commit-config.yaml | 8 ++++---- .../launch/moveit_planning_example.launch.py | 11 ++++++++++- 4 files changed, 16 insertions(+), 7 deletions(-) diff --git a/.github/workflows/industrial_ci_humble.yml b/.github/workflows/industrial_ci_humble.yml index 5264cf4a..0f08fd0a 100644 --- 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 index 1f2a4bc6..4768f6ab 100644 --- 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 }}-${{ matrix.env.ROS_REPO }} diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b2eee581..1c4d2920 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -86,7 +86,7 @@ repos: name: ament_cppcheck exclude: .*/fri_client_sdk/.*|.*/mock/.* description: Static code analysis of C/C++ files. - stages: [commit] + stages: [pre-commit] entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=TRUE ament_cppcheck language: system files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ @@ -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 index e8591da7..d0703377 100644 --- 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]