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[baxter_moveit_config] add gripper option for robot_description #57

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merged 2 commits into from
Dec 1, 2016
Merged

[baxter_moveit_config] add gripper option for robot_description #57

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4b782eb
add description gripper load option
knorth55 Nov 9, 2016
dfb8b43
add travis_before_script to clone baxter_common
knorth55 Dec 1, 2016
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6 changes: 3 additions & 3 deletions .travis.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,9 @@ notifications:
- [email protected]
env:
matrix:
- ROS_DISTRO=kinetic ROS_REPO=ros UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
- ROS_DISTRO=kinetic ROS_REPO=ros BEFORE_SCRIPT='$CI_SOURCE_PATH/.travis_before_script.bash' UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed BEFORE_SCRIPT='$CI_SOURCE_PATH/.travis_before_script.bash' UPSTREAM_WORKSPACE=https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
before_script:
- git clone -q https://github.com/ros-planning/moveit_ci.git .moveit_ci
script:
- source .moveit_ci/travis.sh
- source .moveit_ci/travis.sh
5 changes: 5 additions & 0 deletions .travis_before_script.bash
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@@ -0,0 +1,5 @@
#!/usr/bin/env bash

wstool set baxter_common --git https://github.com/RethinkRobotics/baxter_common.git -v master -y
wstool update baxter_common
cat .rosinstall
4 changes: 3 additions & 1 deletion baxter/baxter_moveit_config/launch/planning_context.launch
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Expand Up @@ -15,7 +15,9 @@

<!-- Load universal robotic description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)"
command="$(find xacro)/xacro --inorder $(find baxter_description)/urdf/baxter.urdf.xacro"/>
command="$(find xacro)/xacro --inorder $(find baxter_description)/urdf/baxter.urdf.xacro
left_electric_gripper:=$(arg left_electric_gripper)
right_electric_gripper:=$(arg right_electric_gripper)"/>

<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic"
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