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Commit 778c1acd authored by Shaun Edwards's avatar Shaun Edwards Committed by GitHub
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Merge pull request #285 from davetcoleman/fix_moveit_warning

Fix Deprecated warning in MoveIt: parameter moved into namespace
parents 66cc6f7c 3a21c3ef
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......@@ -7,9 +7,9 @@
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="ur10" />
......
......@@ -7,9 +7,9 @@
<param name="moveit_manage_controllers" value="$(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" />
......
<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>
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