From d13d835ebb66111fda80569547b729f43b2ecb49 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 27 Nov 2024 11:10:33 -0500 Subject: [PATCH] Added joint limits to rviz launch file. (#3091) (#3136) * Added joint limits to rviz launch file. Rviz now loads the moveit joint limits, enabling cartesian planning from rviz. * Update moveit_configs_utils/moveit_configs_utils/launches.py --------- Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> (cherry picked from commit 0f4c9351dc4d0036b79d7390ef7fb3ea29a7d87d) Co-authored-by: Matthew Elwin <10161574+m-elwin@users.noreply.github.com> --- moveit_configs_utils/moveit_configs_utils/launches.py | 1 + 1 file changed, 1 insertion(+) diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py index fc6f4f3b4c..17ec72eb02 100644 --- a/moveit_configs_utils/moveit_configs_utils/launches.py +++ b/moveit_configs_utils/moveit_configs_utils/launches.py @@ -59,6 +59,7 @@ def generate_moveit_rviz_launch(moveit_config): rviz_parameters = [ moveit_config.planning_pipelines, moveit_config.robot_description_kinematics, + moveit_config.joint_limits, ] add_debuggable_node(