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https://github.com/moveit/moveit_task_constructor.git
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revert changes to demo.launch.py
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parent
2cb84e1d02
commit
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@ -2,18 +2,12 @@ import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess, DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from launch.actions import ExecuteProcess
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from launch_ros.actions import Node
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from moveit_configs_utils import MoveItConfigsBuilder
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument("rviz", default_value="true", description="Launch RViz?")
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)
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moveit_config = (
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MoveItConfigsBuilder("moveit_resources_panda")
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.planning_pipelines(pipelines=["ompl"])
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@ -37,7 +31,6 @@ def generate_launch_description():
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)
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# RViz
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launch_rviz = LaunchConfiguration("rviz")
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rviz_config_file = (
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get_package_share_directory("moveit_task_constructor_demo") + "/config/mtc.rviz"
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)
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@ -52,7 +45,6 @@ def generate_launch_description():
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moveit_config.robot_description_kinematics,
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moveit_config.planning_pipelines,
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],
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condition=IfCondition(launch_rviz),
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)
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# Static TF
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@ -102,8 +94,7 @@ def generate_launch_description():
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]
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return LaunchDescription(
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declared_arguments
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+ [
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[
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rviz_node,
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static_tf,
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robot_state_publisher,
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@ -111,4 +102,4 @@ def generate_launch_description():
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ros2_control_node,
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]
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+ load_controllers
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)
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)
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