Use different packages for launch and config packages in generate_dem…

…o_launch (backport #2647) (#2650) (cherry picked from commit 627e95a) Co-authored-by: Forrest Rogers-Marcovitz <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]>
moveit · Mar 14, 2024 · 44a2edb · 44a2edb
1 parent 360299c
commit 44a2edb
Showing 1 changed file with 13 additions and 8 deletions.
diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -249,10 +249,12 @@ def generate_move_group_launch(moveit_config):
     return ld
 
 
-def generate_demo_launch(moveit_config):
+def generate_demo_launch(moveit_config, launch_package_path=None):
     """
     Launches a self contained demo
 
+    launch_package_path is optional to use different launch and config packages
+
     Includes
      * static_virtual_joint_tfs
      * robot_state_publisher
@@ -261,6 +263,9 @@ def generate_demo_launch(moveit_config):
      * warehouse_db (optional)
      * ros2_control_node + controller spawners
     """
+    if launch_package_path == None:
+        launch_package_path = moveit_config.package_path
+
     ld = LaunchDescription()
     ld.add_action(
         DeclareBooleanLaunchArg(
@@ -277,11 +282,11 @@ def generate_demo_launch(moveit_config):
         )
     )
     ld.add_action(DeclareBooleanLaunchArg("use_rviz", default_value=True))
-
     # If there are virtual joints, broadcast static tf by including virtual_joints launch
     virtual_joints_launch = (
-        moveit_config.package_path / "launch/static_virtual_joint_tfs.launch.py"
+        launch_package_path / "launch/static_virtual_joint_tfs.launch.py"
     )
+
     if virtual_joints_launch.exists():
         ld.add_action(
             IncludeLaunchDescription(
@@ -293,15 +298,15 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/rsp.launch.py")
+                str(launch_package_path / "launch/rsp.launch.py")
             ),
         )
     )
 
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/move_group.launch.py")
+                str(launch_package_path / "launch/move_group.launch.py")
             ),
         )
     )
@@ -310,7 +315,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/moveit_rviz.launch.py")
+                str(launch_package_path / "launch/moveit_rviz.launch.py")
             ),
             condition=IfCondition(LaunchConfiguration("use_rviz")),
         )
@@ -320,7 +325,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/warehouse_db.launch.py")
+                str(launch_package_path / "launch/warehouse_db.launch.py")
             ),
             condition=IfCondition(LaunchConfiguration("db")),
         )
@@ -341,7 +346,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/spawn_controllers.launch.py")
+                str(launch_package_path / "launch/spawn_controllers.launch.py")
             ),
         )
     )