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F sqlite configuration launch moveitday #440

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F sqlite configuration launch moveitday #440

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b3534da
Run the sqlite plugin
giusebar Oct 26, 2018
dbb47d0
Merge remote-tracking branch 'origin' into F_sqlite_configuration_lau…
giusebar Dec 19, 2018
f4dd9f7
Add params
giusebar Dec 20, 2018
56c19ad
Merge branch 'kinetic-devel' into F_sqlite_configuration_launch_movei…
giusebar Dec 17, 2019
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6 changes: 0 additions & 6 deletions sr_moveit_hand_config/launch/warehouse.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,4 @@
<!-- Load warehouse parameters -->
<include file="$(find sr_moveit_hand_config)/launch/warehouse_settings.launch.xml" />

<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>

</launch>
22 changes: 9 additions & 13 deletions sr_moveit_hand_config/launch/warehouse_settings.launch.xml
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@@ -1,16 +1,12 @@
<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->

<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />

<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />

<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<!-- Set the parameters for the warehouse -->
<arg name="moveit_warehouse_port" default="33829" />

<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />

<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />

<param name="warehouse_plugin" value="warehouse_ros_sqlite::SQLiteDatabaseConnection" />
</launch>