• attachment:moveit_planning_execution.launch.txt of Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot

Attachment 'moveit_planning_execution.launch.txt'

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   1 <launch>
   2   <!-- The planning and execution components of MoveIt! configured to run -->
   3   <!-- using the ROS-Industrial interface. -->
   4  
   5   <!-- Non-standard joint names:
   6        - Create a file [robot_moveit_config]/config/joint_names.yaml
   7            controller_joint_names: [joint_1, joint_2, ... joint_N] 
   8        - Update with joint names for your robot (in order expected by rbt controller)
   9        - and uncomment the following line: -->
  10   <!-- <rosparam command="load" file="$(find [robot_moveit_config])/config/joint_names.yaml"/> -->
  11  
  12   <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  13   <!--  - if sim=false, a robot_ip argument is required -->
  14   <arg name="sim" default="true" />
  15   <arg name="robot_ip" unless="$(arg sim)" />
  16  
  17   <!-- load the robot_description parameter before launching ROS-I nodes -->
  18   <include file="$(find [robot_moveit_config])/launch/planning_context.launch" >
  19     <arg name="load_robot_description" value="true" />
  20   </include>
  21 
  22   <!-- run the robot simulator and action interface nodes -->
  23   <group if="$(arg sim)">
  24     <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
  25   </group>
  26 
  27   <!-- run the "real robot" interface nodes -->
  28   <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
  29   <!--   - replace these calls with appropriate robot-specific calls or launch files -->
  30   <group unless="$(arg sim)">
  31     <include file="$(find [robot_interface_pkg])/launch/robot_interface.launch" >
  32       <arg name="robot_ip" value="$(arg robot_ip)"/>
  33     </include>
  34   </group>
  35 
  36   <!-- publish the robot state (tf transforms) -->
  37   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  38 
  39   <include file="$(find [robot_moveit_config])/launch/move_group.launch">
  40     <arg name="publish_monitored_planning_scene" value="true" />
  41   </include>
  42 
  43   <include file="$(find [robot_moveit_config])/launch/moveit_rviz.launch">
  44     <arg name="config" value="true"/>
  45   </include>
  46   
  47   <include file="$(find [robot_moveit_config])/launch/default_warehouse_db.launch" />
  48 
  49 </launch>

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