From e1d78ce207a778686fb96bf1c631dc466c41bba7 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Fri, 25 Jun 2021 22:54:10 +0200
Subject: [PATCH] robot_client: configure new params

But keep previous behaviour.
---
 .../launch/robot_interface_download.launch                  | 5 ++++-
 .../launch/robot_interface_streaming.launch                 | 6 ++++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/industrial_robot_client/launch/robot_interface_download.launch b/industrial_robot_client/launch/robot_interface_download.launch
index df600e11..6f0ab823 100644
--- a/industrial_robot_client/launch/robot_interface_download.launch
+++ b/industrial_robot_client/launch/robot_interface_download.launch
@@ -30,6 +30,9 @@
   <node pkg="industrial_robot_client" type="motion_download_interface" name="motion_download_interface"/>
   
   <!-- joint_trajectory_action: provides actionlib interface for high-level robot control -->
-  <node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action"/>
+  <node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action">
+    <param name="ignore_motion_server_error" type="bool" value="true" />
+    <param name="consider_status_unknowns_ok" type="bool" value="true" />
+  </node>
 
 </launch>
diff --git a/industrial_robot_client/launch/robot_interface_streaming.launch b/industrial_robot_client/launch/robot_interface_streaming.launch
index e9cbd8e9..16bcdca2 100644
--- a/industrial_robot_client/launch/robot_interface_streaming.launch
+++ b/industrial_robot_client/launch/robot_interface_streaming.launch
@@ -30,7 +30,9 @@
   <node pkg="industrial_robot_client" type="motion_streaming_interface" name="motion_streaming_interface"/>
   
   <!-- joint_trajectory_action: provides actionlib interface for high-level robot control -->
-  <node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action"/>
+  <node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action">
+    <param name="ignore_motion_server_error" type="bool" value="true" />
+    <param name="consider_status_unknowns_ok" type="bool" value="true" />
+  </node>
 
 </launch>
-