Do default to preconfigured RViz config if no config is given

ros-industrial · Jul 6, 2022 · 9bcb0aa · 9bcb0aa
1 parent 4b04519
commit 9bcb0aa
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Showing 14 changed files with 28 additions and 28 deletions.
diff --git a/ur10_moveit_config/launch/demo.launch b/ur10_moveit_config/launch/demo.launch
@@ -51,7 +51,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find ur10_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(find ur10_moveit_config)/launch/moveit.rviz"/>
+    <arg name="config" value="$(find ur10_moveit_config)/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

diff --git a/ur10_moveit_config/launch/moveit_rviz.launch b/ur10_moveit_config/launch/moveit_rviz.launch
@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="rviz_config" default="" />
-  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg name="config" default="" />
+  <arg unless="$(eval config=='')" name="command_args" value="-d $(arg config)" />
+  <arg     if="$(eval config=='')" name="command_args" value="-d $(find ur10_moveit_config)/launch/moveit.rviz"/>
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
         args="$(arg command_args)" output="screen">

diff --git a/ur10e_moveit_config/launch/demo.launch b/ur10e_moveit_config/launch/demo.launch
@@ -51,7 +51,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find ur10e_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(find ur10e_moveit_config)/launch/moveit.rviz"/>
+    <arg name="config" value="$(find ur10e_moveit_config)/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

diff --git a/ur10e_moveit_config/launch/moveit_rviz.launch b/ur10e_moveit_config/launch/moveit_rviz.launch
@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="rviz_config" default="" />
-  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg name="config" default="" />
+  <arg unless="$(eval config=='')" name="command_args" value="-d $(arg config)" />
+  <arg     if="$(eval config=='')" name="command_args" value="-d $(find ur10e_moveit_config)/launch/moveit.rviz"/>
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
         args="$(arg command_args)" output="screen">

diff --git a/ur16e_moveit_config/launch/demo.launch b/ur16e_moveit_config/launch/demo.launch
@@ -51,7 +51,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find ur16e_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(find ur16e_moveit_config)/launch/moveit.rviz"/>
+    <arg name="config" value="$(find ur16e_moveit_config)/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

diff --git a/ur16e_moveit_config/launch/moveit_rviz.launch b/ur16e_moveit_config/launch/moveit_rviz.launch
@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="rviz_config" default="" />
-  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg name="config" default="" />
+  <arg unless="$(eval config=='')" name="command_args" value="-d $(arg config)" />
+  <arg     if="$(eval config=='')" name="command_args" value="-d $(find ur16e_moveit_config)/launch/moveit.rviz"/>
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
         args="$(arg command_args)" output="screen">

diff --git a/ur3_moveit_config/launch/demo.launch b/ur3_moveit_config/launch/demo.launch
@@ -51,7 +51,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find ur3_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(find ur3_moveit_config)/launch/moveit.rviz"/>
+    <arg name="config" value="$(find ur3_moveit_config)/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

diff --git a/ur3_moveit_config/launch/moveit_rviz.launch b/ur3_moveit_config/launch/moveit_rviz.launch
@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="rviz_config" default="" />
-  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg name="config" default="" />
+  <arg unless="$(eval config=='')" name="command_args" value="-d $(arg config)" />
+  <arg     if="$(eval config=='')" name="command_args" value="-d $(find ur3_moveit_config)/launch/moveit.rviz"/>
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
         args="$(arg command_args)" output="screen">

diff --git a/ur3e_moveit_config/launch/demo.launch b/ur3e_moveit_config/launch/demo.launch
@@ -51,7 +51,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find ur3e_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(find ur3e_moveit_config)/launch/moveit.rviz"/>
+    <arg name="config" value="$(find ur3e_moveit_config)/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

diff --git a/ur3e_moveit_config/launch/moveit_rviz.launch b/ur3e_moveit_config/launch/moveit_rviz.launch
@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="rviz_config" default="" />
-  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg name="config" default="" />
+  <arg unless="$(eval config=='')" name="command_args" value="-d $(arg config)" />
+  <arg     if="$(eval config=='')" name="command_args" value="-d $(find ur3e_moveit_config)/launch/moveit.rviz"/>
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
         args="$(arg command_args)" output="screen">

diff --git a/ur5_moveit_config/launch/demo.launch b/ur5_moveit_config/launch/demo.launch
@@ -51,7 +51,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(find ur5_moveit_config)/launch/moveit.rviz"/>
+    <arg name="config" value="$(find ur5_moveit_config)/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

diff --git a/ur5_moveit_config/launch/moveit_rviz.launch b/ur5_moveit_config/launch/moveit_rviz.launch
@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="rviz_config" default="" />
-  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg name="config" default="" />
+  <arg unless="$(eval config=='')" name="command_args" value="-d $(arg config)" />
+  <arg     if="$(eval config=='')" name="command_args" value="-d $(find ur5_moveit_config)/launch/moveit.rviz"/>
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
         args="$(arg command_args)" output="screen">

diff --git a/ur5e_moveit_config/launch/demo.launch b/ur5e_moveit_config/launch/demo.launch
@@ -51,7 +51,7 @@
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find ur5e_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(find ur5e_moveit_config)/launch/moveit.rviz"/>
+    <arg name="config" value="$(find ur5e_moveit_config)/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

diff --git a/ur5e_moveit_config/launch/moveit_rviz.launch b/ur5e_moveit_config/launch/moveit_rviz.launch
@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="rviz_config" default="" />
-  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg name="config" default="" />
+  <arg unless="$(eval config=='')" name="command_args" value="-d $(arg config)" />
+  <arg     if="$(eval config=='')" name="command_args" value="-d $(find ur5e_moveit_config)/launch/moveit.rviz"/>
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
         args="$(arg command_args)" output="screen">