Closed fmessmer closed 6 years ago
Just use the jade version. The indigo xacro with --inorder
is just using the jade version under the hood.
This way you don't need to specify the --inorder
flag to use the other new features.
well, sudo apt-get ros-jade-xacro
is easy, but how would you then handle your indigo workspace to use jade xacro? if you source /opt/ros/jade/setup.bash
you have to re-configure your workspace everytime...
Hmm, the conditional blocks do not work without inorder processing. But we can use already processed URDFs for now and switch to kinetic sooner than later ;)
If I find a slot, I might propose a (consistency) fix for setup_assistant...should not be too much work...and still Indigo is LTS so they might merge it...
Indigo and jade have been excluded intentionally: https://github.com/ros-planning/moveit/pull/238
Not sure if you also care about the gui, but see ros-planning/moveit#540.
I might have to revisit that PR and add support for the command line side as well.
With https://github.com/ros-planning/moveit/pull/540 merged, it is now possible to create new moveit config packages for xacro's using Jade+ features... However, moveit_setup_assistant still fails to load xacro's using Jade+ features when editing an existing moveit_config package (see https://github.com/ros-planning/moveit/issues/511#issuecomment-338576884)
Should be as simple as adding use_jade_xacro: true
to the .setup_assistant
of an existing config. See https://github.com/ros-industrial/fanuc/blob/61a84f2684136053824b34406220fa2eaf4b7ad9/fanuc_lrmate200ic5h_moveit_config/.setup_assistant#L5 fi.
@gavanderhoorn thanks for pointing this out
thus, we cannot use the
cob_moveit_bringup/setup_assistant.launch
file anymore... needs to be added to https://github.com/ros-planning/moveit_setup_assistant/blob/kinetic-devel/src/setup_assistant_main.cpp#L57 similar as it is done for https://github.com/ros-planning/moveit_setup_assistant/blob/kinetic-devel/src/collisions_updater.cpp#L130@ipa-bfb FYI