From cc563410633d4dc1ed38553815d7ebbb1fde8023 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 10 Jul 2025 08:51:27 +0200 Subject: [PATCH 1/2] ur_moveit_config: Assure the description is loaded as string Otherwise the description might get loaded as yaml under certain situations. --- ur_moveit_config/launch/ur_moveit.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py index bb20be7a8..995dff688 100644 --- a/ur_moveit_config/launch/ur_moveit.launch.py +++ b/ur_moveit_config/launch/ur_moveit.launch.py @@ -125,7 +125,7 @@ def launch_setup(context, *args, **kwargs): " ", ] ) - robot_description = {"robot_description": robot_description_content} + robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)} # MoveIt Configuration robot_description_semantic_content = Command( From dcdb1dc4b5435294dd51c80cc90349b564e02992 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 10 Jul 2025 07:25:35 +0000 Subject: [PATCH 2/2] Fixed formatting --- ur_moveit_config/launch/ur_moveit.launch.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py index 995dff688..41de1f4cd 100644 --- a/ur_moveit_config/launch/ur_moveit.launch.py +++ b/ur_moveit_config/launch/ur_moveit.launch.py @@ -34,6 +34,7 @@ from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from ur_moveit_config.launch_common import load_yaml +from launch_ros.parameter_descriptions import ParameterValue from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, OpaqueFunction @@ -125,7 +126,9 @@ def launch_setup(context, *args, **kwargs): " ", ] ) - robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)} + robot_description = { + "robot_description": ParameterValue(robot_description_content, value_type=str) + } # MoveIt Configuration robot_description_semantic_content = Command(