Cyclic dependency between prbt_support and prbt_moveit_config

PilzDE / pilz_robots

PILZ robot manipulator module PRBT 6 in ROS

https://wiki.ros.org/pilz_robots

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Cyclic dependency between prbt_support and prbt_moveit_config #449

Closed martiniil closed 4 years ago

martiniil commented 4 years ago

Foregoing discussion: #439

Expected

Since prbt_moveit_config has an execution-dependency on prbt_support, prbt_support should not depend on prbt_moveit_config.

Observed

In prbt_support the test urdf_tests.test has the following line:

    <include file="$(find prbt_moveit_config)/launch/planning_context.launch" />

This introduces a dependency which is currently missing in package.xml.

martiniil commented 4 years ago

In the test urdf_tests.test a MoveIt robot_model is loaded, which needs a srdf description of the robot. At first glance this was implemented out of laziness. The test could as well be conducted without the srdf.