Pass along move_group_capabilities parameters (#2587) (#2697)

* Pass along move_group_capabilities parameters * fix lint check * Use move_group_capabilities as default launch argument (cherry picked from commit f47b4c0) Co-authored-by: Forrest Rogers-Marcovitz <[email protected]>
moveit · Apr 30, 2024 · 0a4f1ff · 0a4f1ff
1 parent ae0c897
commit 0a4f1ff
Showing 1 changed file with 6 additions and 1 deletion.
diff --git 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=""))