Pass use_sim_time to MoveIt's RViz instance

Felix Exner · Felix Exner (fexner) · commit 0a79b018d9f7 · 2024-10-16T11:26:27.000+02:00
When running with sim_time, we need to pass that to the RViz instance, as well.
diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -175,6 +175,9 @@ def generate_launch_description():
             moveit_config.planning_pipelines,
             moveit_config.joint_limits,
             warehouse_ros_config,
+            {
+                "use_sim_time": use_sim_time,
+            },
         ],
     )
 

Original file line number	Diff line number	Diff line change
`@@ -175,6 +175,9 @@ def generate_launch_description():`
`175`	`175`	`moveit_config.planning_pipelines,`
`176`	`176`	`moveit_config.joint_limits,`
`177`	`177`	`warehouse_ros_config,`
	`178`	`+ {`
	`179`	`+ "use_sim_time": use_sim_time,`
	`180`	`+ },`
`178`	`181`	`],`
`179`	`182`	`)`
`180`	`183`