From aabd60f15fe910a8b174a22e4b5dd971e073da66 Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Fri, 24 Mar 2023 16:57:07 -0400 Subject: [PATCH 1/2] Use $DISPLAY rather than assuming : --- moveit_configs_utils/moveit_configs_utils/launches.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py index 40b08d8f19..b54509bc7d 100644 --- a/moveit_configs_utils/moveit_configs_utils/launches.py +++ b/moveit_configs_utils/moveit_configs_utils/launches.py @@ -1,3 +1,5 @@ +import os + from launch import LaunchDescription from launch.actions import ( DeclareLaunchArgument, @@ -237,7 +239,7 @@ def generate_move_group_launch(moveit_config): parameters=move_group_params, extra_debug_args=["--debug"], # Set the display variable, in case OpenGL code is used internally - additional_env={"DISPLAY": ":0"}, + additional_env={"DISPLAY": os.environ['DISPLAY']}, ) return ld From 24eebd5783a57721a0b5f2ee1f645c63ac3cb4dc Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Fri, 24 Mar 2023 16:59:49 -0400 Subject: [PATCH 2/2] Double quotes --- moveit_configs_utils/moveit_configs_utils/launches.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py index b54509bc7d..206ae94115 100644 --- a/moveit_configs_utils/moveit_configs_utils/launches.py +++ b/moveit_configs_utils/moveit_configs_utils/launches.py @@ -239,7 +239,7 @@ def generate_move_group_launch(moveit_config): parameters=move_group_params, extra_debug_args=["--debug"], # Set the display variable, in case OpenGL code is used internally - additional_env={"DISPLAY": os.environ['DISPLAY']}, + additional_env={"DISPLAY": os.environ["DISPLAY"]}, ) return ld