diff --git a/src/april_tag_sim/config/config.yaml b/src/april_tag_sim/config/config.yaml index 5c5a27623..a7734b655 100644 --- a/src/april_tag_sim/config/config.yaml +++ b/src/april_tag_sim/config/config.yaml @@ -4,6 +4,9 @@ # Name of the package to specialize based_on_package: "lab_sim" +runtime_launch_file: + package: "april_tag_sim" + path: "launch/runtime.launch.xml" hardware: # Parameters used to configure the robot description through XACRO. # A URDF and SRDF are both required. diff --git a/src/dual_arm_sim/config/config.yaml b/src/dual_arm_sim/config/config.yaml index 9fa860ec2..633d578ff 100644 --- a/src/dual_arm_sim/config/config.yaml +++ b/src/dual_arm_sim/config/config.yaml @@ -4,6 +4,10 @@ # ############################################################### +runtime_launch_file: + package: "dual_arm_sim" + path: "launch/runtime.launch.xml" + # Baseline hardware configuration parameters for MoveIt Pro. # [Required] hardware: diff --git a/src/factory_sim/config/config.yaml b/src/factory_sim/config/config.yaml index 365a1ea0c..2f76d5bc7 100644 --- a/src/factory_sim/config/config.yaml +++ b/src/factory_sim/config/config.yaml @@ -4,6 +4,10 @@ # ############################################################### +runtime_launch_file: + package: "factory_sim" + path: "launch/runtime.launch.xml" + # Baseline hardware configuration parameters for MoveIt Pro. # [Required] hardware: diff --git a/src/grinding_sim/config/config.yaml b/src/grinding_sim/config/config.yaml index 529c31dca..8cb4a4abf 100644 --- a/src/grinding_sim/config/config.yaml +++ b/src/grinding_sim/config/config.yaml @@ -4,6 +4,10 @@ # ############################################################### +runtime_launch_file: + package: "grinding_sim" + path: "launch/runtime.launch.xml" + # Baseline hardware configuration parameters for MoveIt Pro. # [Required] hardware: diff --git a/src/hangar_sim/config/config.yaml b/src/hangar_sim/config/config.yaml index 2d16becd0..ec7de13d0 100644 --- a/src/hangar_sim/config/config.yaml +++ b/src/hangar_sim/config/config.yaml @@ -4,6 +4,9 @@ # Name of the package to specialize based_on_package: "picknik_ur_base_config" +runtime_launch_file: + package: "hangar_sim" + path: "launch/runtime.launch.xml" hardware: # Parameters used to configure the robot description through XACRO. # A URDF and SRDF are both required. diff --git a/src/kitchen_sim/config/config.yaml b/src/kitchen_sim/config/config.yaml index ee5bbb7f5..56f6a1cf5 100644 --- a/src/kitchen_sim/config/config.yaml +++ b/src/kitchen_sim/config/config.yaml @@ -5,6 +5,9 @@ ############################################################### based_on_package: "franka_base_config" +runtime_launch_file: + package: "kitchen_sim" + path: "launch/runtime.launch.xml" # Baseline hardware configuration parameters for MoveIt Pro. # [Required] hardware: diff --git a/src/lab_sim/config/config.yaml b/src/lab_sim/config/config.yaml index e4873abf5..df8ff6ea3 100644 --- a/src/lab_sim/config/config.yaml +++ b/src/lab_sim/config/config.yaml @@ -4,6 +4,9 @@ # Name of the package to specialize based_on_package: "picknik_ur_base_config" +runtime_launch_file: + package: "lab_sim" + path: "launch/runtime.launch.xml" hardware: # Parameters used to configure the robot description through XACRO. # A URDF and SRDF are both required. diff --git a/src/lunar_sim/config/config.yaml b/src/lunar_sim/config/config.yaml index e0063d763..584ed7b24 100644 --- a/src/lunar_sim/config/config.yaml +++ b/src/lunar_sim/config/config.yaml @@ -5,6 +5,9 @@ # based_on_package: "phoebe_sim" +runtime_launch_file: + package: "lunar_sim" + path: "launch/runtime.launch.xml" hardware: robot_description: diff --git a/src/moveit_pro_franka_configs/franka_base_config/CMakeLists.txt b/src/moveit_pro_franka_configs/franka_base_config/CMakeLists.txt index 895e609fd..e7c67c3df 100644 --- a/src/moveit_pro_franka_configs/franka_base_config/CMakeLists.txt +++ b/src/moveit_pro_franka_configs/franka_base_config/CMakeLists.txt @@ -6,6 +6,7 @@ find_package(ament_cmake REQUIRED) install( DIRECTORY config + launch DESTINATION share/${PROJECT_NAME} ) diff --git a/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml b/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml index 1e13e4fe7..071173f27 100644 --- a/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml +++ b/src/moveit_pro_franka_configs/franka_base_config/config/config.yaml @@ -4,6 +4,10 @@ # ############################################################### +runtime_launch_file: + package: "franka_base_config" + path: "launch/runtime.launch.xml" + # Sets ROS global params for launch. # [Optional] ros_global_params: diff --git a/src/moveit_pro_franka_configs/franka_base_config/launch/runtime.launch.xml b/src/moveit_pro_franka_configs/franka_base_config/launch/runtime.launch.xml new file mode 100644 index 000000000..b2aa75434 --- /dev/null +++ b/src/moveit_pro_franka_configs/franka_base_config/launch/runtime.launch.xml @@ -0,0 +1,6 @@ + + + + diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml index 1060c5fd8..a1908c1a7 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml @@ -4,6 +4,10 @@ # ############################################################### +runtime_launch_file: + package: "kinova_gen3_base_config" + path: "launch/runtime.launch.xml" + hardware: # If the MoveIt Pro Agent should launch the ros2 controller node. # [Optional, default=True] diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml index 94dd1fcb8..b9f9eb08f 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml @@ -4,6 +4,9 @@ # Name of the package to specialize based_on_package: "kinova_gen3_base_config" +runtime_launch_file: + package: "kinova_gen3_site_config" + path: "launch/runtime.launch.xml" hardware: # Real-hardware drivers. Overrides the base config's simulated default diff --git a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml index 0c4cb8f51..fe803f02d 100644 --- a/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml +++ b/src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml @@ -4,6 +4,10 @@ # ############################################################### +runtime_launch_file: + package: "kinova_sim" + path: "launch/runtime.launch.xml" + # Baseline hardware configuration parameters for MoveIt Pro. # [Required] hardware: diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml index 725468b04..dd69aa541 100644 --- a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml +++ b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml @@ -6,6 +6,9 @@ # Extend the basic Kinova MuJoCo configuration based_on_package: kinova_sim +runtime_launch_file: + package: "space_satellite_sim" + path: "launch/runtime.launch.xml" # Baseline hardware configuration parameters for MoveIt Pro. # [Required] diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml index f66a1fd3c..12ec098b4 100644 --- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml +++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml @@ -6,6 +6,9 @@ # Extend the basic Kinova MuJoCo configuration based_on_package: "space_satellite_sim" +runtime_launch_file: + package: "space_satellite_sim_camera_cal" + path: "launch/runtime.launch.xml" # Baseline hardware configuration parameters for MoveIt Pro. # [Required] diff --git a/src/moveit_pro_ur_configs/mock_sim/config/config.yaml b/src/moveit_pro_ur_configs/mock_sim/config/config.yaml index 1b7184a9a..2aaf569cd 100644 --- a/src/moveit_pro_ur_configs/mock_sim/config/config.yaml +++ b/src/moveit_pro_ur_configs/mock_sim/config/config.yaml @@ -1,4 +1,7 @@ based_on_package: "picknik_ur_base_config" +runtime_launch_file: + package: "mock_sim" + path: "launch/runtime.launch.xml" hardware: # Update robot description for machine tending world. diff --git a/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml b/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml index 50c26c1f0..abd8d7b02 100644 --- a/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml +++ b/src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml @@ -1,5 +1,9 @@ # Baseline hardware configuration parameters for MoveIt Pro. # [Required] +runtime_launch_file: + package: "multi_arm_sim" + path: "launch/runtime.launch.xml" + hardware: # If the MoveIt Pro Agent should launch the ros2 controller node. diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml index 2dec85376..17416027d 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml +++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml @@ -4,6 +4,10 @@ # ############################################################### +runtime_launch_file: + package: "picknik_ur_base_config" + path: "launch/runtime.launch.xml" + # Baseline hardware configuration parameters for MoveIt Pro. # [Required] hardware: diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml b/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml index cbdec9809..8960b9b89 100644 --- a/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml +++ b/src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml @@ -1,4 +1,7 @@ based_on_package: "picknik_ur_base_config" +runtime_launch_file: + package: "picknik_ur_site_config" + path: "launch/runtime.launch.xml" objectives: behavior_loader_plugins: