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20 lines
1.3 KiB
20 lines
1.3 KiB
<launch>
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<!-- This file makes it easy to include the settings for trajectory execution -->
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<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
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<arg name="moveit_manage_controllers" default="true"/>
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<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
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<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
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<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
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<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
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<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
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<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
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<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
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<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
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<arg name="moveit_controller_manager" default="stretch_description" />
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<include file="$(find stretch_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
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</launch>
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