From bb901d8753543c8e73952e7ad96df6f565dfcaa3 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Thu, 22 Jun 2023 15:32:25 -0400
Subject: [PATCH] Perception: Adjusting to the changes made that were meant to
 address https://github.com/ros-planning/moveit2_tutorials/issues/708

---
 ...ect_and_add_cylinder_collision_object_demo.launch |  2 +-
 .../launch/obstacle_avoidance_demo.launch.xml        | 12 ++++++++----
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch b/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch
index 6bcc2dd123..272b93e5c8 100644
--- a/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch
+++ b/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch
@@ -2,6 +2,6 @@
   <include file="$(find-pkg-share moveit2_tutorials)/launch/obstacle_avoidance_demo.launch.xml" />
 
   <!-- Run the detection and adding cylinder node -->
-  <node pkg="moveit2_tutorials" exec="cylinder_segment" name="point_cloud_preprocessor" />
+  <node pkg="moveit2_tutorials" exec="detect_and_add_cylinder_collision_object_demo" name="point_cloud_preprocessor" />
 
 </launch>
diff --git a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml b/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml
index 89578da450..e16febdbfe 100644
--- a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml
+++ b/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml
@@ -2,20 +2,24 @@
   <arg name="bagfile" default="$(find-pkg-share moveit2_tutorials)/bags/perception_tutorial.bag" />
   <arg name="launchfile_panda"
        default="$(find-pkg-share moveit_resources_panda_moveit_config)/launch/demo.launch.py" />
-
   <!--
   In this tutorial we wait much longer for the robot transforms than we usually would,
   because the user's machine might be quite slow.
+  Arg name is shortened although the final lengthy Param name is: 'robot_description_planning/shape_transform_cache_lookup_wait_tim'
   -->
-  <param name="robot_description_planning/shape_transform_cache_lookup_wait_time" value="0.5" />
+  <arg name="shape_transform_cache_lookup_wait_time"
+       default="0.5" />
   
   <!-- Play the rosbag that contains the pointcloud data -->
   <executable cmd="ros2 bag play -l $(var bagfile)" output="screen" />
 
-  <include file="$(var launchfile_panda)" />
+  <include file="$(var launchfile_panda)">
+    <arg name="shape_transform_cache_lookup_wait_time"
+         value="$(var shape_transform_cache_lookup_wait_time)" />
+  </include>
 
   <!-- If needed, broadcast static tf for robot root -->
   <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
-  <node pkg="tf2_ros" type="static_transform_publisher" name="to_camera" args="0.00 -.40 0.60 0.19 0.07 -1.91 world camera_rgb_optical_frame" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_camera" args="0.00 -.40 0.60 0.19 0.07 -1.91 world camera_rgb_optical_frame" />
   
 </launch>