指摘事項を修正

rt-net · Dec 23, 2024 · b16cede · b16cede
1 parent 67ed12e
commit b16cede
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Showing 3 changed files with 29 additions and 25 deletions.
diff --git a/sciurus17_examples_py/launch/example.launch.py b/sciurus17_examples_py/launch/example.launch.py
@@ -20,22 +20,24 @@
 from launch_ros.actions import SetParameter
 from moveit_configs_utils import MoveItConfigsBuilder
 from sciurus17_description.robot_description_loader import RobotDescriptionLoader
+from launch.conditions import IfCondition
 
 
 def generate_launch_description():
-    
+
     description_loader = RobotDescriptionLoader()
-    declare_loaded_description = DeclareLaunchArgument('loaded_description',
-                              default_value=description_loader.load(),
-                              description='Set robot_description text.  \
-                        It is recommended to use RobotDescriptionLoader() \
-                        in sciurus17_description.')
+    declare_loaded_description = DeclareLaunchArgument(
+        'loaded_description',
+        default_value=description_loader.load(),
+        description='Set robot_description text.  \
+                    It is recommended to use RobotDescriptionLoader() \
+                    in sciurus17_description.')
 
     moveit_config = (MoveItConfigsBuilder('sciurus17').planning_scene_monitor(
         publish_robot_description=True,
         publish_robot_description_semantic=True,
-    ).moveit_cpp(file_path=get_package_share_directory('sciurus17_examples_py') +
-        '/config/sciurus17_moveit_py_examples.yaml').to_moveit_configs())
+        ).moveit_cpp(file_path=get_package_share_directory('sciurus17_examples_py') +
+                     '/config/sciurus17_moveit_py_examples.yaml').to_moveit_configs())
 
     moveit_config.robot_description = {
         'robot_description': LaunchConfiguration('loaded_description')
@@ -54,19 +56,23 @@ def generate_launch_description():
         'use_sim_time', default_value='false',
         description=('Set true when using the gazebo simulator.')
     )
-
+
+    # 下記Issue対応のためここでパラメータを設定する
+    # https://github.com/moveit/moveit2/issues/2940#issuecomment-2401302214
+    config_dict = moveit_config.to_dict()
+    config_dict.update({'use_sim_time':LaunchConfiguration('use_sim_time')})
+
     example_node = Node(
         name=[LaunchConfiguration('example'), '_node'],
         package='sciurus17_examples_py',
         executable=LaunchConfiguration('example'),
         output='screen',
-        parameters=[moveit_config.to_dict()],
+        parameters=[config_dict],
     )
 
     return LaunchDescription([
         declare_loaded_description,
         declare_use_sim_time,
-        SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
         declare_example_name,
         example_node
     ])
diff --git a/sciurus17_examples_py/sciurus17_examples_py/pick_and_place_left_arm.py b/sciurus17_examples_py/sciurus17_examples_py/pick_and_place_left_arm.py
@@ -23,7 +23,6 @@
 import rclpy
 from rclpy.logging import get_logger
 from sciurus17_examples_py.utils import plan_and_execute
-from std_msgs.msg import Header
 
 
 def main(args=None):
@@ -95,7 +94,7 @@ def main(args=None):
     # 物体の上に腕を伸ばす
     l_arm.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_GRASP_POSE
     l_arm.set_goal_state(pose_stamped_msg=goal_pose, pose_link='l_link7')
     plan_and_execute(
@@ -108,7 +107,7 @@ def main(args=None):
     # 掴みに行く
     l_arm.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = GRASP_POSE
     l_arm.set_goal_state(pose_stamped_msg=goal_pose, pose_link='l_link7')
     plan_and_execute(
@@ -133,7 +132,7 @@ def main(args=None):
     # 持ち上げる
     l_arm.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_GRASP_POSE
     l_arm.set_goal_state(pose_stamped_msg=goal_pose, pose_link='l_link7')
     plan_and_execute(
@@ -146,7 +145,7 @@ def main(args=None):
     # 移動する
     l_arm.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_RELEASE_POSE
     l_arm.set_goal_state(pose_stamped_msg=goal_pose, pose_link='l_link7')
     plan_and_execute(
@@ -159,7 +158,7 @@ def main(args=None):
     # 下ろす
     l_arm.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = RELEASE_POSE
     l_arm.set_goal_state(pose_stamped_msg=goal_pose, pose_link='l_link7')
     plan_and_execute(
@@ -184,7 +183,7 @@ def main(args=None):
     # ハンドを持ち上げる
     l_arm.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_RELEASE_POSE
     l_arm.set_goal_state(pose_stamped_msg=goal_pose, pose_link='l_link7')
     plan_and_execute(

diff --git a/sciurus17_examples_py/sciurus17_examples_py/pick_and_place_right_arm_waist.py b/sciurus17_examples_py/sciurus17_examples_py/pick_and_place_right_arm_waist.py
@@ -24,7 +24,6 @@
 import rclpy
 from rclpy.logging import get_logger
 from sciurus17_examples_py.utils import plan_and_execute
-from std_msgs.msg import Header
 
 
 def main(args=None):
@@ -108,7 +107,7 @@ def main(args=None):
     r_arm_waist.set_path_constraints(path_constraints=constraints)
     r_arm_waist.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_GRASP_POSE
     r_arm_waist.set_goal_state(pose_stamped_msg=goal_pose, pose_link='r_link7')
     plan_and_execute(
@@ -121,7 +120,7 @@ def main(args=None):
     # 掴みに行く
     r_arm_waist.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = GRASP_POSE
     r_arm_waist.set_goal_state(pose_stamped_msg=goal_pose, pose_link='r_link7')
     plan_and_execute(
@@ -146,7 +145,7 @@ def main(args=None):
     # 持ち上げる
     r_arm_waist.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_GRASP_POSE
     r_arm_waist.set_goal_state(pose_stamped_msg=goal_pose, pose_link='r_link7')
     plan_and_execute(
@@ -159,7 +158,7 @@ def main(args=None):
     # 移動する
     r_arm_waist.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_RELEASE_POSE
     r_arm_waist.set_goal_state(pose_stamped_msg=goal_pose, pose_link='r_link7')
     plan_and_execute(
@@ -172,7 +171,7 @@ def main(args=None):
     # 下ろす
     r_arm_waist.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = RELEASE_POSE
     r_arm_waist.set_goal_state(pose_stamped_msg=goal_pose, pose_link='r_link7')
     plan_and_execute(
@@ -197,7 +196,7 @@ def main(args=None):
     # ハンドを持ち上げる
     r_arm_waist.set_start_state_to_current_state()
     goal_pose = PoseStamped()
-    goal_pose.header.frame_id='base_link'
+    goal_pose.header.frame_id = 'base_link'
     goal_pose.pose = PRE_AND_POST_RELEASE_POSE
     r_arm_waist.set_goal_state(pose_stamped_msg=goal_pose, pose_link='r_link7')
     plan_and_execute(