revert changes to demo.launch.py

This commit is contained in:
marqrazz 2025-05-27 14:31:02 -06:00
parent 2cb84e1d02
commit 5d1f23b8ad

View File

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