refactor(moveit server): improve codebase (#194)

This commit improves the codebase and fixes some small bugs in the panda moveit server.
rickstaa · Dec 12, 2023 · 753f9e1 · 753f9e1
1 parent c1a4180
commit 753f9e1
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Showing 5 changed files with 836 additions and 1,011 deletions.
diff --git a/panda_gazebo/launch/put_robot_in_world.launch b/panda_gazebo/launch/put_robot_in_world.launch
@@ -72,7 +72,7 @@
  </include>
 
  <!--Load the 'panda_gazebo' MoveIt server-->
- <!--Retrieve the right transmission for the control type-->
+ <!-- Only load required services-->
  <arg if="$(eval arg('control_type') == 'trajectory')" name="load_set_ee_pose_service" value="true"/>
  <arg unless="$(eval arg('control_type') == 'trajectory')" name="load_set_ee_pose_service" value="false"/>
  <node if="$(arg moveit)" pkg="panda_gazebo" type="panda_moveit_server.py" name="panda_moveit_planner_server" required="true" output="$(arg output)">
@@ -84,6 +84,7 @@
  </node>
 
  <!--Load the 'panda_Gazebo' ROS control server-->
+ <!-- Only load required services-->
  <arg if="$(eval arg('control_type') == 'trajectory')" name="load_set_joint_commands_service" value="false"/>
  <arg if="$(eval arg('control_type') == 'trajectory')" name="load_arm_follow_joint_trajectory_action" value="true"/>
  <arg unless="$(eval arg('control_type') == 'trajectory')" name="load_set_joint_commands_service" value="true"/>

diff --git a/panda_gazebo/nodes/panda_moveit_server.py b/panda_gazebo/nodes/panda_moveit_server.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """This node sets up several extra services that can be used to control the Panda Emika
-Franka robot using the Moveit framework.
+Franka robot using the MoveIt framework.
 
 Source code
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