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Tigul · Dec 27, 2023 · 356a5cf · 356a5cf
1 parent d001698
commit 356a5cf
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/.github/workflows/pycram-ci.yml b/.github/workflows/pycram-ci.yml
@@ -89,7 +89,7 @@ jobs:
           sudo pip3 install --upgrade numpy
       - name: start roscore
         run: |
-              roslaunch pycram ci_setup.launch &
+              roslaunch pycram ik_and_description.launch &
       - name: Run Tests
         run: |
           roscd pycram

diff --git a/launch/ik_and_description.launch b/launch/ik_and_description.launch
@@ -8,9 +8,8 @@
   <group if="$(eval robot == 'pr2')">
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_larm_node.launch"/>
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_rarm_node.launch"/>
-    <param name="robot_description"
-           command="$(find xacro)/xacro
-                    '$(find pr2_description)/robots/pr2.urdf.xacro'"/>
+     <param name="robot_description"
+        textfile="$(find pycram)/resources/pr2.urdf"/>
   </group>
   <!-- Boxy -->
   <group if="$(eval robot == 'boxy')">