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