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", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) fallbacks_move_to_task = Node( package="moveit_task_constructor_demo", executable="fallbacks_move_to", output="screen", parameters=[ moveit_config.pilz_cartesian_limits, moveit_config.joint_limits, moveit_config.planning_pipelines, moveit_config.robot_description, moveit_config.robot_description_kinematics, moveit_config.robot_description_semantic, ], ) return LaunchDescription([fallbacks_move_to_task])