moveit_task_constructor/demo/launch/pickplace.launch.py

37 lines
1.2 KiB
Python

import os
from ament_index_python.packages import get_package_share_directory
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")
.planning_pipelines(pipelines=["ompl"])
.robot_description(file_path="config/panda.urdf.xacro")
.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
.to_moveit_configs()
)
pick_place_demo = Node(
package="moveit_task_constructor_demo",
executable="pick_place_demo",
output="screen",
parameters=[
os.path.join(
get_package_share_directory("moveit_task_constructor_demo"),
"config",
"panda_config.yaml",
),
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
moveit_config.planning_pipelines,
moveit_config.joint_limits,
],
)
return LaunchDescription([pick_place_demo])