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add ExecuteTaskSolutionCapability to move_group (#118)
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@ -18,6 +18,9 @@
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<!-- Given the published joint states, publish tf for the robot links -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
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<!-- Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation -->
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<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability" />
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<!-- Run the main MoveIt executable (the move_group node) -->
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<include file="$(find panda_moveit_config)/launch/move_group.launch">
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<arg name="allow_trajectory_execution" value="true"/>
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