moveit_task_constructor/demo/test/pick_place.test
Robert Haschke aa54de0447
Gracefully handle execution_type (#307)
In moveit_resources 0.8.1 the arg execution_type was renamed to fake_execution_type.
To support both, Melodic and Noetic versions of moveit_resources, provide both name variants.
Additionally, disable  roslaunch's checking via pass_all_args="true".
2021-11-10 10:00:13 +01:00

17 lines
791 B
XML

<?xml version="1.0"?>
<launch>
<include file="$(find moveit_resources_panda_moveit_config)/launch/demo.launch" pass_all_args="true">
<arg name="use_rviz" value="false" />
<arg name="execution_type" value="last point" /> <!-- arg name in 0.8 -->
<arg name="fake_execution_type" value="last point" /> <!-- arg name in 0.8.1 -->
<env name="LD_PRELOAD" value="$(optenv PRELOAD)" />
</include>
<!-- use MTC execution capability -->
<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability" />
<test pkg="moveit_task_constructor_demo" type="pick_place_test" test-name="pick_place_test">
<rosparam command="load" file="$(find moveit_task_constructor_demo)/config/panda_config.yaml" />
</test>
</launch>