add ExecuteTaskSolutionCapability to move_group (#118)

This commit is contained in:
Luca Lach 2020-01-08 11:01:41 +01:00 committed by Robert Haschke
parent 233d63aa7a
commit 513ba80d14

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@ -18,6 +18,9 @@
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation -->
<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability" />
<!-- Run the main MoveIt executable (the move_group node) -->
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>