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Fix moveit servo example #377

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liborw wants to merge 3 commits into from
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Fix moveit servo example #377

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84e2dcd
fix: MoveIt Servo node name
Feb 18, 2026
3a2218d
fix: ValueError: mutable default
Feb 18, 2026
f48c57d
fix: add missing dependency on pynput
Feb 18, 2026
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2 changes: 1 addition & 1 deletion lbr_bringup/lbr_bringup/moveit.py
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ def node_moveit_servo(
) -> Node:
return Node(
package="moveit_servo",
executable="servo_node_main",
executable="servo_node",
output="screen",
namespace=robot_name,
**kwargs,
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22 changes: 11 additions & 11 deletions lbr_demos/lbr_moveit/lbr_moveit/forward_keyboard_node.py
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@@ -1,4 +1,4 @@
from dataclasses import dataclass
from dataclasses import dataclass, field

import numpy as np
import rclpy
Expand All @@ -25,8 +25,8 @@ class Rotation:
z: float = 0.0

joints: list
translation: Translation = Translation()
rotation: Rotation = Rotation()
translation: Translation = field(default_factory=Translation)
rotation: Rotation = field(default_factory=Rotation)

@dataclass
class KeyboardLayout:
Expand All @@ -47,9 +47,9 @@ class Z:
increase: str = "q"
decrease: str = "e"

x: X = X()
y: Y = Y()
z: Z = Z()
x: X = field(default_factory=X)
y: Y = field(default_factory=Y)
z: Z = field(default_factory=Z)

@dataclass
class Rotation:
Expand All @@ -68,13 +68,13 @@ class Z:
increase: str = "y"
decrease: str = "h"

x: X = X()
y: Y = Y()
z: Z = Z()
x: X = field(default_factory=X)
y: Y = field(default_factory=Y)
z: Z = field(default_factory=Z)

joints: list
translation: Translation = Translation()
rotation: Rotation = Rotation()
translation: Translation = field(default_factory=Translation)
rotation: Rotation = field(default_factory=Rotation)
escape: str = "Key.esc"
pause: str = "p"
reverse_joints: str = "r"
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1 change: 1 addition & 0 deletions lbr_demos/lbr_moveit/package.xml
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Expand Up @@ -11,6 +11,7 @@
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<exec_depend>python3-pynput</exec_depend>

<export>
<build_type>ament_python</build_type>
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