The SRDF had an end_effector that wasn't and couldn't be used, because there is no appropriate group to specify as a parent group (see here for details on how that SRDF tag is parsed, and here for details about the intent of that SRDF tag). This PR removes that unnecessary SRDF tag.
Although MoveIt2 nodes use a variety of log levels, there is currently no convenient way to set the log levels across all the nodes launched in the MoveIt2 ecosystem. This PR is one way to address that, although a more succinct way is proposed in moveit2#2770.
Testing
[x] Launch the code: ros2 launch ada_moveit demo.launch.py sim:=mock. Earlier, a warning used to appear Could not identify parent from for end-effector 'forque'; that warning should no longer appear.
[x] Launch the code with log level error: ros2 launch ada_moveit demo.launch.py sim:=mock log_level:=error. Verify that other than the launch process logs, and the MoveGroup logs that don't go through ROS logging, all other logs are only error-level.
[x] Launch the code with log level debug: ros2 launch ada_moveit demo.launch.py sim:=mock log_level:=debug. Verify that you see all logs debug and up in severity.
Description
This PR does two things:
end_effectorthat wasn't and couldn't be used, because there is no appropriate group to specify as a parent group (see here for details on how that SRDF tag is parsed, and here for details about the intent of that SRDF tag). This PR removes that unnecessary SRDF tag.moveit2#2770.Testing
ros2 launch ada_moveit demo.launch.py sim:=mock. Earlier, a warning used to appearCould not identify parent from for end-effector 'forque'; that warning should no longer appear.ros2 launch ada_moveit demo.launch.py sim:=mock log_level:=error. Verify that other than the launch process logs, and the MoveGroup logs that don't go through ROS logging, all other logs are only error-level.ros2 launch ada_moveit demo.launch.py sim:=mock log_level:=debug. Verify that you see all logs debug and up in severity.