From 7637a215d37249fc6a14e852dc81316999d77a3f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Wed, 24 Dec 2025 16:26:17 +1000 Subject: [PATCH] =?UTF-8?q?=D0=98=D1=81=D0=BF=D1=80=D0=B0=D0=B2=D0=BB?= =?UTF-8?q?=D0=B5=D0=BD=D1=8B=20=D0=BE=D1=88=D0=B8=D0=B1=D0=BA=D0=B8,=20?= =?UTF-8?q?=D0=BA=D0=BE=D1=82=D0=BE=D1=80=D1=8B=D0=B5=20=D0=BE=D1=81=D1=82?= =?UTF-8?q?=D0=B0=D0=BB=D0=B8=D1=81=D1=8C=20=D1=81=20`ros2=20rolling`?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/iiwa_bringup/launch/digital_twin.launch.py | 5 +++++ .../iiwa_object_spawner/object_spawner.py | 6 +++--- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/src/iiwa_bringup/launch/digital_twin.launch.py b/src/iiwa_bringup/launch/digital_twin.launch.py index 549b387..49692c4 100644 --- a/src/iiwa_bringup/launch/digital_twin.launch.py +++ b/src/iiwa_bringup/launch/digital_twin.launch.py @@ -17,6 +17,7 @@ from moveit_configs_utils import MoveItConfigsBuilder from iiwa_bringup.utils import converter + PACKAGE = "iiwa_bringup" DESCRIPTION_PKG = "iiwa_description" @@ -95,6 +96,10 @@ def _runtime_setup(context, *args, **kwatgs): .joint_limits(file_path=joint_limits_yaml) .pilz_cartesian_limits(file_path=pilz_limits_yaml) .trajectory_execution(file_path=moveit_controllers_yaml) + .planning_pipelines( + pipelines=["ompl", "stomp", "pilz_industrial_motion_planner"], + default_planning_pipeline="pilz_industrial_motion_planner", + ) .to_moveit_configs() ) diff --git a/src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py b/src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py index 7be7805..f7b0e42 100644 --- a/src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py +++ b/src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py @@ -74,9 +74,9 @@ class ObjectSpawner(Node): def main(args=None): try: - with rclpy.init(args=args): - node = ObjectSpawner() - rclpy.spin(node=node) + rclpy.init(args=args) + node = ObjectSpawner() + rclpy.spin(node=node) except (KeyboardInterrupt, ExternalShutdownException): pass