Merge pull request #285 from davetcoleman/fix_moveit_warning

Fix Deprecated warning in MoveIt: parameter moved into namespace

ur10_moveit_config/launch/trajectory_execution.launch.xml

@@ -7,9 +7,9 @@
   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
 
   <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
-  <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
   <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
-  <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
   
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="ur10" />

ur3_moveit_config/launch/trajectory_execution.launch.xml

@@ -7,9 +7,9 @@
   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
 
   <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
-  <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
   <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
-  <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
   
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="ur3" />

ur5_moveit_config/launch/trajectory_execution.launch.xml

 <launch>
 
-  <!-- This file makes it easy to include the settings for trajectory execution  -->  
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
 
   <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
   <arg name="moveit_manage_controllers" default="true"/>
   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
 
   <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
-  <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
   <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
-  <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
-  
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="ur5" />
   <include file="$(find ur5_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
-  
+
 </launch>