Merge pull request #840 from cyberbotics/sync-master-f3045ad

Merge master into develop
cyberbotics · Aug 3, 2023 · 4f270f7 · 4f270f7
2 parents ea19ede + f17e13a
commit 4f270f7
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Showing 4 changed files with 8 additions and 7 deletions.
diff --git a/webots_ros2_universal_robot/launch/robot_launch/robot_moveit_nodes_launch.py b/webots_ros2_universal_robot/launch/robot_launch/robot_moveit_nodes_launch.py
@@ -85,6 +85,7 @@ def load_yaml(filename):
                     movegroup,
                     sim_time
                 ],
+                remappings=[('/joint_states', '/ur5e/joint_states')]
             )
         )
 

diff --git a/webots_ros2_universal_robot/launch/robot_launch/robot_nodes_launch.py b/webots_ros2_universal_robot/launch/robot_launch/robot_nodes_launch.py
@@ -52,7 +52,8 @@ def generate_launch_description():
             {'use_sim_time': True},
             {'set_robot_state_publisher': True},
             ros2_control_params
-        ]
+        ],
+        namespace='ur5e'
     )
 
     # Other ROS 2 nodes
@@ -63,15 +64,15 @@ def generate_launch_description():
         executable='spawner',
         output='screen',
         prefix=controller_manager_prefix,
-        arguments=['ur_joint_trajectory_controller'] + controller_manager_timeout,
+        arguments=['ur_joint_trajectory_controller', '-c', 'ur5e/controller_manager'] + controller_manager_timeout,
     )
 
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
         executable='spawner',
         output='screen',
         prefix=controller_manager_prefix,
-        arguments=['ur_joint_state_broadcaster'] + controller_manager_timeout,
+        arguments=['ur_joint_state_broadcaster', '-c', 'ur5e/controller_manager'] + controller_manager_timeout,
     )
 
     robot_state_publisher = Node(

diff --git a/webots_ros2_universal_robot/resource/moveit_controllers.yaml b/webots_ros2_universal_robot/resource/moveit_controllers.yaml
@@ -1,7 +1,7 @@
 controller_names:
-  - ur_joint_trajectory_controller
+  - ur5e/ur_joint_trajectory_controller
 
-ur_joint_trajectory_controller:
+ur5e/ur_joint_trajectory_controller:
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: true

diff --git a/webots_ros2_universal_robot/resource/moveit_movegroup.yaml b/webots_ros2_universal_robot/resource/moveit_movegroup.yaml
@@ -1,9 +1,8 @@
 planning_plugin: ompl_interface/OMPLPlanner
 request_adapters:
-  default_planner_request_adapters/AddTimeParameterization
+  default_planner_request_adapters/AddTimeOptimalParameterization
   default_planner_request_adapters/ResolveConstraintFrames
   default_planner_request_adapters/FixWorkspaceBounds
   default_planner_request_adapters/FixStartStateBounds
   default_planner_request_adapters/FixStartStateCollision
   default_planner_request_adapters/FixStartStatePathConstraints
-  default_planner_request_adapters/AddTimeParameterization
-Original file line number
+Diff line change
@@ Expand Up / @@ -85,6 +85,7 @@ def load_yaml(filename): @@
                         movegroup,
                         sim_time
                     ],
+                    remappings=[('/joint_states', '/ur5e/joint_states')]
                 )
             )
@@ Expand Down @@