Attachment 'moveit_planning_execution.launch.txt'
Download 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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