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26 lines
754 B
Python
26 lines
754 B
Python
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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.robot_description(file_path="config/panda.urdf.xacro")
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.to_moveit_configs()
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)
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cartesian_task = Node(
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package="moveit_task_constructor_demo",
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executable="cartesian",
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output="screen",
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parameters=[
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moveit_config.joint_limits,
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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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],
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)
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return LaunchDescription([cartesian_task])
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