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32 lines
1.0 KiB
Python
32 lines
1.0 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.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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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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.to_moveit_configs()
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)
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package = "moveit_task_constructor_demo"
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package_shared_path = get_package_share_directory(package)
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node = Node(
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package=package,
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executable=LaunchConfiguration("exe"),
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output="screen",
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parameters=[
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moveit_config.to_dict(),
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os.path.join(package_shared_path, "config", "panda_config.yaml"),
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],
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)
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arg = DeclareLaunchArgument(name="exe")
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return LaunchDescription([arg, node])
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