From 9bcb0aa59762606cb636e042887715276a165145 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 6 Jul 2022 09:44:52 +0000
Subject: [PATCH] Do default to preconfigured RViz config if no config is given

---
 ur10_moveit_config/launch/demo.launch         | 2 +-
 ur10_moveit_config/launch/moveit_rviz.launch  | 6 +++---
 ur10e_moveit_config/launch/demo.launch        | 2 +-
 ur10e_moveit_config/launch/moveit_rviz.launch | 6 +++---
 ur16e_moveit_config/launch/demo.launch        | 2 +-
 ur16e_moveit_config/launch/moveit_rviz.launch | 6 +++---
 ur3_moveit_config/launch/demo.launch          | 2 +-
 ur3_moveit_config/launch/moveit_rviz.launch   | 6 +++---
 ur3e_moveit_config/launch/demo.launch         | 2 +-
 ur3e_moveit_config/launch/moveit_rviz.launch  | 6 +++---
 ur5_moveit_config/launch/demo.launch          | 2 +-
 ur5_moveit_config/launch/moveit_rviz.launch   | 6 +++---
 ur5e_moveit_config/launch/demo.launch         | 2 +-
 ur5e_moveit_config/launch/moveit_rviz.launch  | 6 +++---
 14 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/ur10_moveit_config/launch/demo.launch b/ur10_moveit_config/launch/demo.launch
index 6fe0ed6df..57b3ca5a6 100644
--- 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
index a4605c037..53959d703 100644
--- 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
index 32ba509f0..91a0e581b 100644
--- 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
index a4605c037..285d81657 100644
--- 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
index 6d8e7ab8c..8cc5c85e9 100644
--- 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
index a4605c037..4a06506ce 100644
--- 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
index 26d9aa40f..87da0471c 100644
--- 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
index a4605c037..942ba156e 100644
--- 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
index 83a323361..b0771f14d 100644
--- 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
index a4605c037..fd1842624 100644
--- 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
index 0b0a89bcc..865f116f0 100644
--- 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
index a4605c037..45ffce7c5 100644
--- 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
index d00d93522..eef307e03 100644
--- 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
index a4605c037..42c17cd43 100644
--- 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">