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25 lines
1.2 KiB
25 lines
1.2 KiB
<launch>
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<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
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<arg name="load_robot_description" default="false"/>
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<!-- The name of the parameter under which the URDF is loaded -->
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<arg name="robot_description" default="robot_description"/>
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<!-- Load universal robot description format (URDF) -->
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<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find stretch_description)/urdf/stretch_description.xacro'"/>
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<!-- The semantic description that corresponds to the URDF -->
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<param name="$(arg robot_description)_semantic" textfile="$(find stretch_moveit_config)/config/stretch_description.srdf" />
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<!-- Load updated joint limits (override information from URDF) -->
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<group ns="$(arg robot_description)_planning">
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<rosparam command="load" file="$(find stretch_moveit_config)/config/joint_limits.yaml"/>
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</group>
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<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
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<group ns="$(arg robot_description)_kinematics">
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<rosparam command="load" file="$(find stretch_moveit_config)/config/kinematics.yaml"/>
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</group>
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</launch>
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