From 710ca8b6f712d3465d389f5e2b794ae29390e5d2 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 14 Aug 2019 00:46:09 -0600
Subject: [PATCH] Remove deprecated inorder tag to fix warning (#36)
---
launch/planning_context.launch | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/launch/planning_context.launch b/launch/planning_context.launch
index e961339..f0ec470 100644
--- a/launch/planning_context.launch
+++ b/launch/planning_context.launch
@@ -8,13 +8,13 @@
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
- <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
- <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+ <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+ <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
<!-- The semantic description that corresponds to the URDF -->
- <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
- <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
-
+ <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
+ <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
+
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml"/>
@@ -24,5 +24,5 @@
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</group>
-
+
</launch>
--
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