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15 lines
715 B
15 lines
715 B
<launch>
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<arg name="reset" default="false"/>
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<!-- If not specified, we'll use a default database location -->
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<arg name="moveit_warehouse_database_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" />
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<!-- Launch the warehouse with the configured database location -->
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<include file="$(find stretch_moveit_config)/launch/warehouse.launch">
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<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
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</include>
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<!-- If we want to reset the database, run this node -->
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<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
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</launch>
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