-
Notifications
You must be signed in to change notification settings - Fork 52
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add launch file for Demo with Gazebo + Moveit
- Loading branch information
Showing
2 changed files
with
41 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,40 @@ | ||
<launch> | ||
|
||
<!-- By default, we do not start a database (it can be large) --> | ||
<arg name="db" default="true" /> | ||
<!-- Allow user to specify database location --> | ||
<arg name="db_path" default="$(find fanuc_lrmate200id_moveit_config)/default_warehouse_mongo_db" /> | ||
|
||
<!-- By default, we are not in debug mode --> | ||
<arg name="debug" default="false" /> | ||
|
||
<!-- Launch Gazebo --> | ||
<arg name="gazebo" default="false" /> | ||
<include file="$(find fanuc_lrmate200id_gazebo)/launch/gazebo_lrmate200id.launch" if="$(arg gazebo)" /> | ||
|
||
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server --> | ||
<include file="$(find fanuc_lrmate200id_moveit_config)/launch/planning_context.launch"> | ||
<arg name="load_robot_description" value="false"/> | ||
</include> | ||
|
||
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) --> | ||
<include file="$(find fanuc_lrmate200id_moveit_config)/launch/move_group.launch"> | ||
<arg name="allow_trajectory_execution" value="true"/> | ||
<arg name="fake_execution" value="false"/> | ||
<arg name="info" value="true"/> | ||
<arg name="debug" value="$(arg debug)"/> | ||
</include> | ||
|
||
<!-- Run Rviz and load the default config to see the state of the move_group node --> | ||
<arg name="rviz" default="true" /> | ||
<include file="$(find fanuc_lrmate200id_moveit_config)/launch/moveit_rviz.launch"> | ||
<arg name="config" value="true"/> | ||
<arg name="debug" value="$(arg debug)"/> | ||
</include> | ||
|
||
<!-- If database loading was enabled, start mongodb as well --> | ||
<include file="$(find fanuc_lrmate200id_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> | ||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> | ||
</include> | ||
|
||
</launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters