[MoveIt configs] use joint limits from description

ros-industrial · Oct 17, 2023 · 7ac22f8 · 7ac22f8
1 parent 0edbc91
commit 7ac22f8
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Showing 14 changed files with 7 additions and 245 deletions.
diff --git a/ur10_moveit_config/config/joint_limits.yaml b/ur10_moveit_config/config/joint_limits.yaml
diff --git a/ur10_moveit_config/launch/planning_context.launch b/ur10_moveit_config/launch/planning_context.launch
@@ -13,7 +13,7 @@
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur10_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur_description)/config/ur10/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

diff --git a/ur10e_moveit_config/config/joint_limits.yaml b/ur10e_moveit_config/config/joint_limits.yaml
diff --git a/ur10e_moveit_config/launch/planning_context.launch b/ur10e_moveit_config/launch/planning_context.launch
@@ -13,7 +13,7 @@
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur10e_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur_description)/config/ur10e/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

diff --git a/ur16e_moveit_config/config/joint_limits.yaml b/ur16e_moveit_config/config/joint_limits.yaml
diff --git a/ur16e_moveit_config/launch/planning_context.launch b/ur16e_moveit_config/launch/planning_context.launch
@@ -13,7 +13,7 @@
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur16e_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur_description)/config/ur16e/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

diff --git a/ur3_moveit_config/config/joint_limits.yaml b/ur3_moveit_config/config/joint_limits.yaml
diff --git a/ur3_moveit_config/launch/planning_context.launch b/ur3_moveit_config/launch/planning_context.launch
@@ -13,7 +13,7 @@
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur3_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur_description)/config/ur3/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

diff --git a/ur3e_moveit_config/config/joint_limits.yaml b/ur3e_moveit_config/config/joint_limits.yaml
diff --git a/ur3e_moveit_config/launch/planning_context.launch b/ur3e_moveit_config/launch/planning_context.launch
@@ -13,7 +13,7 @@
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur3e_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur_description)/config/ur3e/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

diff --git a/ur5_moveit_config/config/joint_limits.yaml b/ur5_moveit_config/config/joint_limits.yaml
diff --git a/ur5_moveit_config/launch/planning_context.launch b/ur5_moveit_config/launch/planning_context.launch
@@ -13,7 +13,7 @@
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur5_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur_description)/config/ur5/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

diff --git a/ur5e_moveit_config/config/joint_limits.yaml b/ur5e_moveit_config/config/joint_limits.yaml
diff --git a/ur5e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch
@@ -13,7 +13,7 @@
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur5e_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur_description)/config/ur5e/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->