From 43a2a5721fafdfe9018e70cb99c5d3273e1981db Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Mon, 26 Feb 2024 00:55:40 -0700 Subject: [PATCH 1/2] add missing behavior loaders --- src/kinova_gen3_base_config/config/config.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/kinova_gen3_base_config/config/config.yaml b/src/kinova_gen3_base_config/config/config.yaml index 5274ec2..530a8f8 100644 --- a/src/kinova_gen3_base_config/config/config.yaml +++ b/src/kinova_gen3_base_config/config/config.yaml @@ -166,6 +166,9 @@ objectives: # Add additional plugin loaders as needed. core: - "moveit_studio::behaviors::CoreBehaviorsLoader" + - "moveit_studio::behaviors::MTCCoreBehaviorsLoader" + - "moveit_studio::behaviors::ServoBehaviorsLoader" + - "moveit_studio::behaviors::VisionBehaviorsLoader" objective_library_paths: core: package_name: "kinova_gen3_base_config" From 1a50fef6ffbefdbccef38fcad3996a8e418b5ef1 Mon Sep 17 00:00:00 2001 From: Mario Prats Date: Mon, 26 Feb 2024 01:05:13 -0700 Subject: [PATCH 2/2] remove unused launch file --- .../launch/sim/hardware.launch.py | 47 ------------------- 1 file changed, 47 deletions(-) delete mode 100644 src/kinova_gen3_base_config/launch/sim/hardware.launch.py diff --git a/src/kinova_gen3_base_config/launch/sim/hardware.launch.py b/src/kinova_gen3_base_config/launch/sim/hardware.launch.py deleted file mode 100644 index a751d3d..0000000 --- a/src/kinova_gen3_base_config/launch/sim/hardware.launch.py +++ /dev/null @@ -1,47 +0,0 @@ -# Copyright 2021-2023 PickNik Inc. -# All rights reserved. -# -# Unauthorized copying of this code base via any medium is strictly prohibited. -# Proprietary and confidential. - -from launch import LaunchDescription -from launch_ros.actions import Node - -from moveit_studio_utils_py.system_config import ( - SystemConfigParser, -) - -from moveit_studio_utils_py.generate_camera_frames import ( - generate_camera_frames, -) - - -system_config_parser = SystemConfigParser() -cameras_config = system_config_parser.get_cameras_config() - - -def generate_launch_description(): - nodes_to_launch = [] - - # Do not launch any nodes if there are no configured cameras. - if not cameras_config: - print( - "No camera configuration found. Not launching any camera transform nodes." - ) - else: - frame_pair_params = [ - { - "world_frame": "world", - "camera_frames": generate_camera_frames(cameras_config), - } - ] - camera_transforms_node = Node( - package="moveit_studio_agent", - executable="camera_transforms_node", - name="camera_transforms_node", - output="both", - parameters=frame_pair_params, - ) - nodes_to_launch.append(camera_transforms_node) - - return LaunchDescription(nodes_to_launch)