From b3534da9c048b6bf8ac1d1af2ac2c80b7125cd4c Mon Sep 17 00:00:00 2001
From: Giuseppe Barbieri <giuseppe@shadowrobot.com>
Date: Fri, 26 Oct 2018 14:58:40 +0000
Subject: [PATCH 1/2] Run the sqlite plugin

---
 sr_moveit_hand_config/launch/warehouse.launch    |  6 ------
 .../launch/warehouse_settings.launch.xml         | 16 ++--------------
 2 files changed, 2 insertions(+), 20 deletions(-)

diff --git a/sr_moveit_hand_config/launch/warehouse.launch b/sr_moveit_hand_config/launch/warehouse.launch
index c21b6438e..7cb18702b 100644
--- a/sr_moveit_hand_config/launch/warehouse.launch
+++ b/sr_moveit_hand_config/launch/warehouse.launch
@@ -6,10 +6,4 @@
   <!-- Load warehouse parameters -->  
   <include file="$(find sr_moveit_hand_config)/launch/warehouse_settings.launch.xml" />
 
-  <!-- Run the DB server -->
-  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
-    <param name="overwrite" value="false"/>
-    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
-  </node>
-
 </launch>
diff --git a/sr_moveit_hand_config/launch/warehouse_settings.launch.xml b/sr_moveit_hand_config/launch/warehouse_settings.launch.xml
index 967e0ff4d..fa796d003 100644
--- a/sr_moveit_hand_config/launch/warehouse_settings.launch.xml
+++ b/sr_moveit_hand_config/launch/warehouse_settings.launch.xml
@@ -1,16 +1,4 @@
 <launch>
-  <!-- Set the parameters for the warehouse and run the mongodb server. -->
-
-  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->  
-  <arg name="moveit_warehouse_port" default="33829" /> 
-
-  <!-- The default DB host for moveit -->
-  <arg name="moveit_warehouse_host" default="localhost" /> 
-  
-  <!-- Set parameters for the warehouse -->
-  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
-  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
-  <param name="warehouse_exec" value="mongod" />
-  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
-
+  <!-- Set the parameters for the warehouse -->
+  <param name="warehouse_plugin" value="warehouse_ros_sqlite::SQLiteDatabaseConnection" />
 </launch>

From f4dd9f7b6334086e86e3af46b57d1ab5fbc49494 Mon Sep 17 00:00:00 2001
From: Giuseppe Barbieri <giuseppe@shadowrobot.com>
Date: Thu, 20 Dec 2018 09:22:02 +0000
Subject: [PATCH 2/2] Add params

---
 .../launch/warehouse_settings.launch.xml                  | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/sr_moveit_hand_config/launch/warehouse_settings.launch.xml b/sr_moveit_hand_config/launch/warehouse_settings.launch.xml
index fa796d003..8fee372c5 100644
--- a/sr_moveit_hand_config/launch/warehouse_settings.launch.xml
+++ b/sr_moveit_hand_config/launch/warehouse_settings.launch.xml
@@ -1,4 +1,12 @@
 <launch>
   <!-- Set the parameters for the warehouse -->
+  <arg name="moveit_warehouse_port" default="33829" /> 	
+ 
+  <!-- The default DB host for moveit -->	
+  <arg name="moveit_warehouse_host" default="localhost" /> 	
+ 
+  <!-- Set parameters for the warehouse -->	
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>	
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
   <param name="warehouse_plugin" value="warehouse_ros_sqlite::SQLiteDatabaseConnection" />
 </launch>