sm_multi_panda round 2

robosoft-ai · Sep 27, 2024 · 9a04655 · 9a04655
1 parent 40c0cce
commit 9a04655
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Showing 4 changed files with 6 additions and 120 deletions.
diff --git a/...sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/CHANGELOG.rst b/...sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/CHANGELOG.rst
diff --git a/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/launch/demo.launch.py b/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/launch/demo.launch.py
@@ -40,6 +40,7 @@ def generate_launch_description():
         output="screen",
         parameters=[moveit_config.to_dict() | {"ros_control_namespace": "/panda_arm_1"}],
         arguments=["--ros-args", "--log-level", "move_group:=DEBUG"],
+        prefix="xterm -hold -e",
     )
 
     # RViz
@@ -68,6 +69,7 @@ def generate_launch_description():
         name="robot_state_publisher",
         output="both",
         parameters=[moveit_config.robot_description],
+        prefix="xterm -hold -e",
     )
 
     # ros2_control using FakeSystem as hardware
@@ -82,6 +84,7 @@ def generate_launch_description():
         parameters=[moveit_config.robot_description, ros2_controllers_path],
         output="both",
         arguments=["--ros-args", "--log-level", "debug"],
+        prefix="xterm -hold -e",
     )
 
     # Load controllers

diff --git a/...sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/CHANGELOG.rst b/...sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/CHANGELOG.rst
diff --git a/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/launch/demo.launch.py b/...2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/launch/demo.launch.py
@@ -67,6 +67,7 @@ def generate_launch_description():
         parameters=[
             panda_arm_2_moveit_config.to_dict() | {"ros_control_namespace": "/panda_arm_2"}
         ],
+        prefix="xterm -hold -e",
     )
 
     # RViz
@@ -95,6 +96,7 @@ def generate_launch_description():
         name="robot_state_publisher",
         output="both",
         parameters=[panda_arm_2_moveit_config.robot_description],
+        prefix="xterm -hold -e",
     )
 
     # ros2_control using FakeSystem as hardware
@@ -109,6 +111,7 @@ def generate_launch_description():
         parameters=[panda_arm_2_moveit_config.robot_description, ros2_controllers_path],
         output="both",
         # arguments = ["--ros-args", "--log-level", "debug"]
+        prefix="xterm -hold -e",
     )
 
     # Load controllers