moveit_task_constructor/demo/launch/demo.launch
2019-11-02 22:05:58 +08:00

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XML

<?xml version="1.0"?>
<launch>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<node pkg="tf2_ros" type="static_transform_publisher" name="$(anon virtual_joint_broadcaster)" args="0 0 0 0 0 0 world panda_link0" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<param name="rate" value="50"/>
<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable (the move_group node) -->
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="false"/>
</include>
<!-- Run Rviz -->
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_task_constructor_demo)/config/mtc.rviz">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
</launch>