From 535d06c20e33bb4b5ba83041518aa4caf1ceb863 Mon Sep 17 00:00:00 2001
From: aalmrad <aalmrad@kinova.ca>
Date: Wed, 6 Nov 2024 15:49:59 -0500
Subject: [PATCH] Added a missing robot description argument: "moveit_active"
 (#253)

---
 kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro        | 3 ++-
 .../arms/gen3/6dof/urdf/kortex.ros2_control.xacro              | 3 ++-
 kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro        | 3 ++-
 .../arms/gen3/7dof/urdf/kortex.ros2_control.xacro              | 3 ++-
 .../arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro             | 2 +-
 .../arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro         | 2 +-
 .../grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro        | 2 +-
 .../grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro    | 3 ++-
 .../grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro      | 3 ++-
 kortex_description/robots/kortex_robot.xacro                   | 2 +-
 10 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
index a5863952..d3387924 100644
--- 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
index 14decd3c..e2b631f8 100644
--- 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="${name}" type="system">
       <hardware>
diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
index fe7d6efe..90a05f38 100644
--- a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
+++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
@@ -31,7 +31,8 @@
     isaac_joint_commands:=/isaac_joint_commands
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
-    initial_positions:=${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
index eaeb63e6..e85bbdfb 100644
--- 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="${name}" type="system">
       <hardware>
diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
index 8253953b..998e1bce 100644
--- a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
+++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
@@ -31,7 +31,7 @@
     isaac_joint_states:=/isaac_joint_states
     use_external_cable:=false
     initial_positions:=${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
index bcc15ad7..f7a3f19b 100644
--- 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
index ba692f99..55f03507 100644
--- 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
index 4f94c142..bb54731b 100644
--- 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
index 49551dd1..cbf7f42f 100644
--- 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
index 306d1324..f89c6f57 100644
--- 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" />