moveit_task_constructor/demo/launch/fallbacks_move_to.launch.py

29 lines
955 B
Python

from launch import LaunchDescription
from launch_ros.actions import Node
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"])
.to_moveit_configs()
)
fallbacks_move_to_task = Node(
package="moveit_task_constructor_demo",
executable="fallbacks_move_to",
output="screen",
parameters=[
moveit_config.pilz_cartesian_limits,
moveit_config.joint_limits,
moveit_config.planning_pipelines,
moveit_config.robot_description,
moveit_config.robot_description_kinematics,
moveit_config.robot_description_semantic,
],
)
return LaunchDescription([fallbacks_move_to_task])