Merge pull request #228 from PickNikRobotics/multi-arm-sim-fixes

Multi arm sim fixes

Author: sjahr

src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml

@@ -139,7 +139,7 @@ ros2_control:
   # Load but do not start these controllers so they can be activated later if needed.
   # [Optional, default=[]]
   controllers_inactive_at_startup:
-    - "multi_arm_joint_trajectory_controller"
+    - "joint_trajectory_controller"
   # Any controllers here will not be spawned by MoveIt Pro.
   # [Optional, default=[]]
   controllers_not_managed: []

src/moveit_pro_ur_configs/multi_arm_sim/config/control/picknik_multi_ur.ros2_control.yaml

@@ -11,7 +11,7 @@ controller_manager:
       type: ur_controllers/GPIOController
     fourth_io_and_status_controller:
       type: ur_controllers/GPIOController
-    multi_arm_joint_trajectory_controller:
+    joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
     first_robotiq_gripper_controller:
       type: position_controllers/GripperActionController
@@ -40,7 +40,7 @@ fourth_io_and_status_controller:
   ros__parameters:
     tf_prefix: "fourth_"
 
-multi_arm_joint_trajectory_controller:
+joint_trajectory_controller:
   ros__parameters:
     joints:
       - first_shoulder_pan_joint

src/moveit_pro_ur_configs/multi_arm_sim/config/moveit/multi_arm_ur.srdf

@@ -21,7 +21,7 @@
     <group name="fourth_manipulator">
         <chain base_link="fourth_base_link" tip_link="fourth_grasp_link"/>
     </group>
-    <group name="multi_arm_manipulator">
+    <group name="manipulator">
         <group name="first_manipulator"/>
         <group name="second_manipulator"/>
         <group name="third_manipulator"/>

src/moveit_pro_ur_configs/multi_arm_sim/config/moveit/ompl_planning.yaml

@@ -132,7 +132,7 @@ fourth_gripper:
     - PRMkConfigDefault
     - PRMstarkConfigDefault
 
-multi_arm_manipulator:
+manipulator:
   default_planner_config: RRTConnectkConfigDefault
   planner_configs:
     - APSConfigDefault

…m_sim/objectives/close_right_gripper.xml …lti_arm_sim/objectives/close_gripper.xmlsrc/moveit_pro_ur_configs/multi_arm_sim/objectives/close_right_gripper.xml renamed to src/moveit_pro_ur_configs/multi_arm_sim/objectives/close_gripper.xml src/moveit_pro_ur_configs/multi_arm_sim/objectives/close_right_gripper.xml renamed to src/moveit_pro_ur_configs/multi_arm_sim/objectives/close_gripper.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <root BTCPP_format="4" main_tree_to_execute="Close First Gripper">
-  <BehaviorTree ID="Close First Gripper" _description="Close the first gripper">
+  <BehaviorTree ID="Close Gripper" _description="Close the first gripper">
     <Control ID="Sequence" name="root">
       <Action
         ID="MoveGripperAction"
@@ -10,7 +10,7 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Close First Gripper">
+    <SubTree ID="Close Gripper">
       <MetadataFields>
         <Metadata subcategory="Grasping" />
       </MetadataFields>