fix move_group_capabilities usage

* this fixes an issue seen when no capabilities are defined (moveit#2734) * also adds ability to specify disabled capabilities
mikeferguson · Oct 2, 2024 · d9f5c2b · d9f5c2b
1 parent 7d3693b
commit d9f5c2b
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -204,7 +204,12 @@ def generate_move_group_launch(moveit_config):
         )
     )
     # inhibit these default MoveGroup capabilities (space separated)
-    ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
+    ld.add_action(
+        DeclareLaunchArgument(
+            "disable_capabilities",
+            default_value=moveit_config.move_group_capabilities["disable"],
+        )
+    )
 
     # do not copy dynamics information from /joint_states to internal robot monitoring
     # default to false, because almost nothing in move_group relies on this information

diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
@@ -108,7 +108,7 @@ class MoveItConfigs:
     # A dictionary that has the sensor 3d configuration parameters.
     sensors_3d: Dict = field(default_factory=dict)
     # A dictionary containing move_group's non-default capabilities.
-    move_group_capabilities: Dict = field(default_factory=dict)
+    move_group_capabilities: Dict = field(default_factory=lambda: {"capabilities": "", "disable": ""})
     # A dictionary containing the overridden position/velocity/acceleration limits.
     joint_limits: Dict = field(default_factory=dict)
     # A dictionary containing MoveItCpp related parameters.