Add interactive marker to moveit example launch file (#205)

* fix? * add planning plugin to rviz * Revert "fix?" This reverts commit 4284a00. * update deprecated action --------- Co-authored-by: Aron Svastits <[email protected]> Co-authored-by: Gergely Kovacs <[email protected]> Co-authored-by: root <[email protected]> Co-authored-by: svastits <svastits.aron.gmail.com>
kroshu · Dec 20, 2024 · 40fb7e3 · 40fb7e3
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commit 40fb7e3
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Showing 3 changed files with 12 additions and 3 deletions.
diff --git a/.github/workflows/industrial_ci_humble.yml b/.github/workflows/industrial_ci_humble.yml
@@ -53,7 +53,7 @@ jobs:
           ref: humble
 
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}

diff --git a/.github/workflows/industrial_ci_jazzy.yml b/.github/workflows/industrial_ci_jazzy.yml
@@ -54,7 +54,7 @@ jobs:
         with:
           fetch-depth: 0
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
+      - uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}

diff --git a/examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py b/examples/iiqka_moveit_example/launch/moveit_planning_example.launch.py
@@ -71,9 +71,15 @@ def launch_setup(context, *args, **kwargs):
     )
 
     rviz_config_file = (
-        get_package_share_directory("kuka_resources") + "/config/view_6_axis_planning_scene.rviz"
+        get_package_share_directory("kuka_resources") + "/config/planning_6_axis.rviz"
     )
 
+    robot_description_kinematics = {
+        "robot_description_kinematics": {
+            "manipulator": {"kinematics_solver": "kdl_kinematics_plugin/KDLKinematicsPlugin"}
+        }
+    }
+
     startup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
@@ -93,6 +99,9 @@ def launch_setup(context, *args, **kwargs):
         name="rviz2",
         output="log",
         arguments=["-d", rviz_config_file, "--ros-args", "--log-level", "error"],
+        parameters=[
+            robot_description_kinematics,
+        ],
     )
 
     to_start = [startup_launch, move_group_server, rviz]