moveit_task_constructor/demo/launch/modular.launch.py

26 lines
748 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")
.to_moveit_configs()
)
modular_task = Node(
package="moveit_task_constructor_demo",
executable="modular",
output="screen",
parameters=[
moveit_config.joint_limits,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
],
)
return LaunchDescription([modular_task])