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 from launch_ros.actions import Node from moveit_configs_utils import MoveItConfigsBuilder def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("moveit_resources_panda") .planning_pipelines(pipelines=["ompl"]) .robot_description(file_path="config/panda.urdf.xacro") .to_moveit_configs() ) package = "moveit_task_constructor_demo" package_shared_path = get_package_share_directory(package) node = Node( package=package, executable=LaunchConfiguration("exe"), output="screen", parameters=[ moveit_config.to_dict(), os.path.join(package_shared_path, "config", "panda_config.yaml"), ], ) arg = DeclareLaunchArgument(name="exe") return LaunchDescription([arg, node])