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65 lines
3.0 KiB
65 lines
3.0 KiB
<launch>
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<!-- specify the planning pipeline -->
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<arg name="pipeline" default="ompl" />
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<!-- By default, we do not start a database (it can be large) -->
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<arg name="db" default="false" />
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<!-- Allow user to specify database location -->
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<arg name="db_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" />
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<!-- By default, we are not in debug mode -->
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<arg name="debug" default="false" />
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<!--
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By default, hide joint_state_publisher's GUI
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MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher.
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The latter one maintains and publishes the current joint configuration of the simulated robot.
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It also provides a GUI to move the simulated robot around "manually".
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This corresponds to moving around the real robot without the use of MoveIt.
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-->
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<arg name="use_gui" default="false" />
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<arg name="use_rviz" default="true" />
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<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
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<include file="$(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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<!-- If needed, broadcast static tf for robot root -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 map base_link" />
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<!-- We do not have a robot connected, so publish fake joint states -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
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<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
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</node>
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<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
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<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
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</node>
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<!-- Given the published joint states, publish tf for the robot links -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
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<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
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<include file="$(find stretch_moveit_config)/launch/move_group.launch">
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<arg name="allow_trajectory_execution" value="true"/>
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<arg name="fake_execution" value="true"/>
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<arg name="info" value="true"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="pipeline" value="$(arg pipeline)"/>
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</include>
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<!-- Run Rviz and load the default config to see the state of the move_group node -->
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<include file="$(find stretch_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
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<arg name="rviz_config" value="$(find stretch_moveit_config)/launch/moveit.rviz"/>
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<arg name="debug" value="$(arg debug)"/>
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</include>
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<!-- If database loading was enabled, start mongodb as well -->
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<include file="$(find stretch_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
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<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
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</include>
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</launch>
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