cartesian path fix @josefinemonnet moveit/moveit2/issues/2545

lbr-stack · Dec 29, 2023 · f879d89 · f879d89
1 parent cef18d0
commit f879d89
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/lbr_bringup/launch/move_group.launch.py b/lbr_bringup/launch/move_group.launch.py
@@ -59,12 +59,14 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         rviz_config="config/moveit.rviz",
         parameters=LBRMoveGroupMixin.params_rviz(
             moveit_configs=moveit_configs_builder.to_moveit_configs()
-        ),
+        )
+        + [{"use_sim_time": LaunchConfiguration("sim")}],
         remappings=[
-            ("robot_description", robot_name + "/robot_description"),
-            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
             ("display_planned_path", robot_name + "/display_planned_path"),
+            ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("robot_description", robot_name + "/robot_description"),
+            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
     )