Fixes *_planning_pipeline.launch template input args defaults (#51)

This commit makes sure that all input arguments of the *_planning_pipeline.launch templates do have a default value.
rickstaa · Aug 30, 2021 · 22cb883 · 22cb883
1 parent 9618a69
commit 22cb883
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Showing 4 changed files with 23 additions and 7 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,16 @@
+{
+    "workbench.colorCustomizations": {
+        "activityBar.activeBackground": "#9986d2",
+        "activityBar.activeBorder": "#8b4a34",
+        "activityBar.background": "#9986d2",
+        "activityBar.foreground": "#15202b",
+        "activityBar.inactiveForeground": "#15202b99",
+        "activityBarBadge.background": "#8b4a34",
+        "activityBarBadge.foreground": "#e7e7e7",
+        "tab.activeBorder": "#9986d2",
+        "titleBar.activeBackground": "#7a61c4",
+        "titleBar.activeForeground": "#e7e7e7",
+        "titleBar.inactiveBackground": "#7a61c499",
+        "titleBar.inactiveForeground": "#e7e7e799"
+    }
+}
diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml
@@ -2,12 +2,12 @@
   <!-- CHOMP Plugin for MoveIt -->
   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
 
-  <arg name="start_state_max_bounds_error" value="0.1" />
-  <arg name="jiggle_fraction" value="0.05" />
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
   <!-- The request adapters (plugins) used when planning.
        ORDER MATTERS -->
   <arg name="planning_adapters"
-       value="default_planner_request_adapters/AddTimeParameterization
+       default="default_planner_request_adapters/AddTimeParameterization
               default_planner_request_adapters/ResolveConstraintFrames
               default_planner_request_adapters/FixWorkspaceBounds
               default_planner_request_adapters/FixStartStateBounds

diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
@@ -6,16 +6,16 @@
   <!-- The request adapters (plugins) used when planning with OMPL.
        ORDER MATTERS -->
   <arg name="planning_adapters"
-       value="default_planner_request_adapters/AddTimeParameterization
+       default="default_planner_request_adapters/AddTimeParameterization
               default_planner_request_adapters/ResolveConstraintFrames
               default_planner_request_adapters/FixWorkspaceBounds
               default_planner_request_adapters/FixStartStateBounds
               default_planner_request_adapters/FixStartStateCollision
               default_planner_request_adapters/FixStartStatePathConstraints"
               />
 
-  <arg name="start_state_max_bounds_error" value="0.1" />
-  <arg name="jiggle_fraction" value="0.05" />
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
 
   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="request_adapters" value="$(arg planning_adapters)" />

diff --git a/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -5,7 +5,7 @@
 
   <!-- The request adapters (plugins) used when planning.
        ORDER MATTERS -->
-  <arg name="planning_adapters" value="" />
+  <arg name="planning_adapters" default="" />
 
   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="request_adapters" value="$(arg planning_adapters)" />