Fix namespace of params for trajectory_execution

[wkentaro]

[gavanderhoorn]

Can you provide a bit more detail? Why do you feel this needs to be changed?

trajectory_execution.launch.xml is a generated file, so if we determine the proposed change is something we'd like to see happening, I'd rather we first update the template file in moveit_setup_assistant (here), and then manually update all MoveIt configuration pkgs in both fanuc and fanuc_experimental to include the same change.

[wkentaro]

Because the correct name space seems to be /move_group/trajectory_execution according to the rqt_reconfigure.
Without this PR, the parameters are not set correctly, and params in rqt_reconfigure becomes like below (being set the default value defined in .cfg file):

I'm not sure why this happens, but can be a bug of moveit_setup_assistant.

[wkentaro]

I reported to moveit/moveit#61

[gavanderhoorn]

Ok, thanks for clarifying. Must say I've never run into this myself, but that's probably because I never changed the parameter values in the launch files, always afterwards with dyn_recfg.

If we decide in moveit/moveit#61 that the parameters should be pushed down into the trajectory_execution namespace, would you be willing to update all MoveIt configurations in fanuc_experimental?

[wkentaro]

If there is no other way, I will do that.

2016年8月17日水曜日、G.A. vd. [email protected]さんは書きました:

Ok, thanks for clarifying. Must say I've never run into this myself, but
that's probably because I never changed the parameter values in the launch
files, always afterwards with dyn_recfg.

If we decide in moveit/moveit#61
moveit/moveit#61 that the parameters
should be pushed down into the trajectory_execution namespace, would you
be willing to update all MoveIt configurations in fanuc_experimental?

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和田 健太郎 / Kentaro Wada
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[gavanderhoorn]

@wkentaro wrote:

If there is no other way, I will do that.

Well the 'other way' would be me doing it, which is fine, but then it'd take a while :).

But no worries if you don't have the time.

[gavanderhoorn]

This can only be merged after Indigo gets a new MoveIt release that includes the changes in moveit/moveit#72 and moveit/moveit#73. We'll have to wait for moveit/moveit#100 to be completed.