Added joint limits to rviz launch file. (moveit#3091)

m-elwin · sea-bass · web-flow · commit 0f4c9351dc4d · 2024-11-15T03:23:35.000Z
* 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 &lt;4603398+sea-bass@users.noreply.github.com&gt;
diff --git 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(

Original file line number	Diff line number	Diff line change
`@@ -59,6 +59,7 @@ def generate_moveit_rviz_launch(moveit_config):`
`59`	`59`	`rviz_parameters = [`
`60`	`60`	`moveit_config.planning_pipelines,`
`61`	`61`	`moveit_config.robot_description_kinematics,`
	`62`	`+ moveit_config.joint_limits,`
`62`	`63`	`]`
`63`	`64`
`64`	`65`	`add_debuggable_node(`