Added a missing robot description argument: "moveit_active" (#253)

Kinovarobotics · Nov 6, 2024 · 535d06c · 535d06c
1 parent 5e9067c
commit 535d06c
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Showing 10 changed files with 16 additions and 10 deletions.
diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
@@ -31,7 +31,8 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
-    initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}" >
+    initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}
+    moveit_active:=false">
 
     <!-- ros2 control include -->
     <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />

diff --git a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
@@ -23,7 +23,8 @@
     connection_inactivity_timeout_ms
     gripper_joint_name
     gripper_max_velocity:=100.0
-    gripper_max_force:=100.0">
+    gripper_max_force:=100.0
+    moveit_active:=false">
 
     <ros2_control name="${name}" type="system">
       <hardware>

diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
@@ -31,7 +31,8 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
-    initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}" >
+    initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0,joint_7=0.0)}
+    moveit_active:=false">
 
     <!-- ros2 control include -->
     <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />

diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
@@ -23,7 +23,8 @@
     connection_inactivity_timeout_ms
     gripper_joint_name
     gripper_max_velocity:=100.0
-    gripper_max_force:=100.0">
+    gripper_max_force:=100.0
+    moveit_active:=false">
 
     <ros2_control name="${name}" type="system">
       <hardware>

diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
@@ -31,7 +31,7 @@
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
     initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)}
-    moveit_active" >
+    moveit_active:=false" >
 
     <!-- ros2 control include -->
     <xacro:include filename="$(find kortex_description)/arms/gen3_lite/${dof}dof/urdf/kortex.ros2_control.xacro" />

diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro
@@ -24,7 +24,7 @@
     gripper_joint_name
     gripper_max_velocity:=100.0
     gripper_max_force:=100.0
-    moveit_active">
+    moveit_active:=false">
 
     <ros2_control name="${name}" type="system">
       <hardware>

diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro
@@ -12,7 +12,7 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=true
-    moveit_active">
+    moveit_active:=false">
 
   <xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
     <xacro:unless value="${moveit_active}">

diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
@@ -10,7 +10,8 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
-    com_port:=/dev/ttyUSB0">
+    com_port:=/dev/ttyUSB0
+    moveit_active:=false">
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />
 
     <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->

diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
@@ -10,7 +10,8 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_internal_bus_gripper_comm:=false
-    com_port:=/dev/ttyUSB0">
+    com_port:=/dev/ttyUSB0
+    moveit_active:=false">
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
 
     <!-- Hardware talks directly to the gripper so we don't need ros2_control unless we are simulating -->

diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro
@@ -31,7 +31,7 @@
     gripper_max_velocity:=100.0
     gripper_max_force:=100.0
     gripper_com_port:=/dev/ttyUSB0
-    moveit_active">
+    moveit_active:=false">
 
     <!-- Include and load arm macro files -->
     <xacro:include filename="$(find kortex_description)/arms/${arm}/${dof}dof/urdf/${arm}_macro.xacro" />