Fix run.launch.py (#607)

Add path to panda_config.yaml file to have parameters available for pick_place_demo

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
This commit is contained in:
Karthik Arumugham 2024-08-27 14:29:30 +05:30 committed by Robert Haschke
parent 5519162b40
commit cb867aeddf

View File

@ -1,3 +1,5 @@
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
@ -12,8 +14,10 @@ def generate_launch_description():
.to_moveit_configs()
)
package = "moveit_task_constructor_demo"
package_shared_path = get_package_share_directory(package)
node = Node(
package="moveit_task_constructor_demo",
package=package,
executable=LaunchConfiguration("exe"),
output="screen",
parameters=[
@ -22,6 +26,7 @@ def generate_launch_description():
moveit_config.robot_description_kinematics,
moveit_config.joint_limits,
moveit_config.planning_pipelines,
os.path.join(package_shared_path, "config", "panda_config.yaml"),
],
)