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37 lines
1.2 KiB
Python
37 lines
1.2 KiB
Python
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_ros.actions import Node
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from moveit_configs_utils import MoveItConfigsBuilder
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def generate_launch_description():
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moveit_config = (
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MoveItConfigsBuilder("moveit_resources_panda")
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.planning_pipelines(pipelines=["ompl"])
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.robot_description(file_path="config/panda.urdf.xacro")
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.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
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.to_moveit_configs()
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)
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pick_place_demo = Node(
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package="moveit_task_constructor_demo",
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executable="pick_place_demo",
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output="screen",
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parameters=[
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os.path.join(
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get_package_share_directory("moveit_task_constructor_demo"),
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"config",
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"panda_config.yaml",
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),
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moveit_config.robot_description,
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moveit_config.robot_description_semantic,
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moveit_config.robot_description_kinematics,
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moveit_config.planning_pipelines,
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moveit_config.joint_limits,
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],
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)
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return LaunchDescription([pick_place_demo])
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