You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
82 lines
3.8 KiB
82 lines
3.8 KiB
<launch>
|
|
|
|
<!-- GDB Debug Option -->
|
|
<arg name="debug" default="false" />
|
|
<arg unless="$(arg debug)" name="launch_prefix" value="" />
|
|
<arg if="$(arg debug)" name="launch_prefix"
|
|
value="gdb -x $(find stretch_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
|
|
|
|
<!-- Verbose Mode Option -->
|
|
<arg name="info" default="$(arg debug)" />
|
|
<arg unless="$(arg info)" name="command_args" value="" />
|
|
<arg if="$(arg info)" name="command_args" value="--debug" />
|
|
|
|
<!-- move_group settings -->
|
|
<arg name="pipeline" default="ompl" />
|
|
<arg name="allow_trajectory_execution" default="true"/>
|
|
<arg name="fake_execution" default="false"/>
|
|
<arg name="max_safe_path_cost" default="1"/>
|
|
<arg name="jiggle_fraction" default="0.05" />
|
|
<arg name="publish_monitored_planning_scene" default="true"/>
|
|
|
|
<arg name="capabilities" default=""/>
|
|
<arg name="disable_capabilities" default=""/>
|
|
<!-- load these non-default MoveGroup capabilities (space seperated) -->
|
|
<!--
|
|
<arg name="capabilities" value="
|
|
a_package/AwsomeMotionPlanningCapability
|
|
another_package/GraspPlanningPipeline
|
|
" />
|
|
-->
|
|
|
|
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
|
|
<!--
|
|
<arg name="disable_capabilities" value="
|
|
move_group/MoveGroupKinematicsService
|
|
move_group/ClearOctomapService
|
|
" />
|
|
-->
|
|
|
|
<arg name="load_robot_description" default="true" />
|
|
<!-- load URDF, SRDF and joint_limits configuration -->
|
|
<include file="$(find stretch_moveit_config)/launch/planning_context.launch">
|
|
<arg name="load_robot_description" value="$(arg load_robot_description)" />
|
|
</include>
|
|
|
|
<!-- Planning Functionality -->
|
|
<include ns="move_group" file="$(find stretch_moveit_config)/launch/planning_pipeline.launch.xml">
|
|
<arg name="pipeline" value="$(arg pipeline)" />
|
|
</include>
|
|
|
|
<!-- Trajectory Execution Functionality -->
|
|
<include ns="move_group" file="$(find stretch_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
|
|
<arg name="moveit_manage_controllers" value="true" />
|
|
<arg name="moveit_controller_manager" value="stretch_description" unless="$(arg fake_execution)"/>
|
|
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
|
|
</include>
|
|
|
|
<!-- Sensors Functionality -->
|
|
<include ns="move_group" file="$(find stretch_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
|
|
<arg name="moveit_sensor_manager" value="stretch_description" />
|
|
</include>
|
|
|
|
<!-- Start the actual move_group node/action server -->
|
|
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
|
|
<!-- Set the display variable, in case OpenGL code is used internally -->
|
|
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
|
|
|
|
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
|
|
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
|
|
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
|
|
<param name="capabilities" value="$(arg capabilities)"/>
|
|
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
|
|
|
|
|
|
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
|
|
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
|
|
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
|
|
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
|
|
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
|
|
</node>
|
|
|
|
</launch>
|