Add srdf file path argument to move_group.launch

mikeferguson · Nov 12, 2020 · 977c6df · 977c6df
1 parent 3e831ff
commit 977c6df
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/fetch_moveit_config/launch/move_group.launch b/fetch_moveit_config/launch/move_group.launch
@@ -1,6 +1,9 @@
 <launch>
 
-  <include file="$(find fetch_moveit_config)/launch/planning_context.launch" />
+  <arg name="srdf" default="$(find fetch_moveit_config)/config/fetch.srdf" />
+  <include file="$(find fetch_moveit_config)/launch/planning_context.launch" >
+    <arg name="srdf" value="$(arg srdf)" />
+  </include>
 
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />

diff --git a/fetch_moveit_config/launch/planning_context.launch b/fetch_moveit_config/launch/planning_context.launch
@@ -6,12 +6,15 @@
   <!-- The name of the parameter under which the URDF is loaded -->
   <arg name="robot_description" default="robot_description"/>
 
+  <!-- The path to srdf file -->
+  <arg name="srdf" default="$(find fetch_moveit_config)/config/fetch.srdf" />
+
   <!-- Load universal robot description format (URDF) -->
   <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find fetch_description)/robots/fetch.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find fetch_moveit_config)/config/fetch.srdf" />
-  
+  <param name="$(arg robot_description)_semantic" textfile="$(arg srdf)" />
+
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find fetch_moveit_config)/config/joint_limits.yaml"/>