From f17023b2fd169669f9a85aa0aafe57076e09d806 Mon Sep 17 00:00:00 2001 From: Forrest Rogers-Marcovitz <39061824+forrest-rm@users.noreply.github.com> Date: Mon, 19 Feb 2024 06:22:18 -0500 Subject: [PATCH] Pass along move_group_capabilities parameters (#2587) * Pass along move_group_capabilities parameters * fix lint check * Use move_group_capabilities as default launch argument (cherry picked from commit f47b4c01b7508079925bb8ce733ea9bc22582127) --- moveit_configs_utils/moveit_configs_utils/launches.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py index 206ae94115..e8e588bd81 100644 --- a/moveit_configs_utils/moveit_configs_utils/launches.py +++ b/moveit_configs_utils/moveit_configs_utils/launches.py @@ -197,7 +197,12 @@ def generate_move_group_launch(moveit_config): DeclareBooleanLaunchArg("publish_monitored_planning_scene", default_value=True) ) # load non-default MoveGroup capabilities (space separated) - ld.add_action(DeclareLaunchArgument("capabilities", default_value="")) + ld.add_action( + DeclareLaunchArgument( + "capabilities", + default_value=moveit_config.move_group_capabilities["capabilities"], + ) + ) # inhibit these default MoveGroup capabilities (space separated) ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))