from launch import LaunchDescription from launch_ros.actions import Node from moveit_configs_utils import MoveItConfigsBuilder def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("moveit_resources_panda") .robot_description(file_path="config/panda.urdf.xacro") .planning_pipelines(pipelines=["ompl"]) .to_moveit_configs() ) cartesian_task = Node( package="moveit_task_constructor_demo", executable="alternative_path_costs", output="screen", parameters=[ moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics, moveit_config.planning_pipelines, ], ) return LaunchDescription([cartesian_task])