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21 lines
817 B
21 lines
817 B
<launch>
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<!-- This argument must specify the list of .cfg files to process for benchmarking -->
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<arg name="cfg" />
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<!-- Load URDF -->
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<include file="$(find stretch_moveit_config)/launch/planning_context.launch">
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<arg name="load_robot_description" value="true"/>
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</include>
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<!-- Start the database -->
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<include file="$(find stretch_moveit_config)/launch/warehouse.launch">
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<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
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</include>
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<!-- Start Benchmark Executable -->
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<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
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<rosparam command="load" file="$(find stretch_moveit_config)/config/ompl_planning.yaml"/>
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</node>
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</launch>
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