simplify demo startup launch

There's no need to copy the whole demo.launch from the panda config.
This commit is contained in:
v4hn 2021-03-05 14:54:13 +01:00
parent 3d8faea079
commit ee2d768012

View File

@ -1,36 +1,13 @@
<?xml version="1.0"?>
<launch>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
<!-- Load panda demo with MTC's execution capability -->
<include file="$(find moveit_resources_panda_moveit_config)/launch/demo.launch">
<arg name="use_rviz" value="false"/>
</include>
<node pkg="tf2_ros" type="static_transform_publisher" name="$(anon virtual_joint_broadcaster)" args="0 0 0 0 0 0 world panda_link0" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<param name="rate" value="50"/>
<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation -->
<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability" />
<!-- Run the main MoveIt executable (the move_group node) -->
<include file="$(find moveit_resources_panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="false"/>
</include>
<!-- Run Rviz -->
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_task_constructor_demo)/config/mtc.rviz">
<rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/kinematics.yaml"/>
</node>
<!-- Run rviz with prepared config -->
<include file="$(find moveit_resources_panda_moveit_config)/launch/moveit_rviz.launch">
<arg name="rviz_config" value="$(find moveit_task_constructor_demo)/config/mtc.rviz" />
</include>
</launch>