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fix move_group_capabilities usage #3018

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fix move_group_capabilities usage #3018

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d864d9c
fix move_group_capabilities usage
mikeferguson Oct 2, 2024
483df1d
formatting as recommended by CI
mikeferguson Oct 2, 2024
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7 changes: 6 additions & 1 deletion moveit_configs_utils/moveit_configs_utils/launches.py
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,12 @@ def generate_move_group_launch(moveit_config):
)
)
# inhibit these default MoveGroup capabilities (space separated)
ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
ld.add_action(
DeclareLaunchArgument(
"disable_capabilities",
default_value=moveit_config.move_group_capabilities["disable_capabilities"],
)
)

# do not copy dynamics information from /joint_states to internal robot monitoring
# default to false, because almost nothing in move_group relies on this information
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4 changes: 3 additions & 1 deletion moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,9 @@ class MoveItConfigs:
# A dictionary that has the sensor 3d configuration parameters.
sensors_3d: Dict = field(default_factory=dict)
# A dictionary containing move_group's non-default capabilities.
move_group_capabilities: Dict = field(default_factory=dict)
move_group_capabilities: Dict = field(
default_factory=lambda: {"capabilities": "", "disable_capabilities": ""}
)
# A dictionary containing the overridden position/velocity/acceleration limits.
joint_limits: Dict = field(default_factory=dict)
# A dictionary containing MoveItCpp related parameters.
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