mirror of
https://github.com/moveit/moveit_task_constructor.git
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Co-Authored-By: Henning Kayser <henningkayser@picknik.ai> Co-Authored-By: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
40 lines
1.9 KiB
XML
40 lines
1.9 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
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<include file="$(find panda_moveit_config)/launch/planning_context.launch">
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<arg name="load_robot_description" value="true"/>
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</include>
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<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
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<!-- We do not have a robot connected, so publish fake joint states -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="/use_gui" value="false"/>
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<param name="rate" value="50"/>
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<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
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</node>
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<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
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<!-- Given the published joint states, publish tf for the robot links -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
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<!-- Run the main MoveIt executable (the move_group node) -->
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<include file="$(find panda_moveit_config)/launch/move_group.launch">
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<arg name="allow_trajectory_execution" value="true"/>
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<arg name="fake_execution" value="true"/>
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<arg name="info" value="true"/>
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<arg name="debug" value="false"/>
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</include>
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<!-- Run Rviz -->
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<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_task_constructor_demo)/config/mtc.rviz">
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<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
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</node>
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<!-- Run MTC pick and place -->
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<node name="moveit_task_constructor_demo" pkg="moveit_task_constructor_demo" type="moveit_task_constructor_demo" output="screen">
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<param name="execute" value="true" />
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<rosparam command="load" file="$(find moveit_task_constructor_demo)/config/panda_config.yaml" />
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</node>
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</launch>
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