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Adds the panda_control_moveit_rviz launch file (#45)
This commit adds the panda_control_moveit_rviz launch file. This file can be used to control a real robot using MoveIt.
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controller_list: | ||
- name: position_joint_trajectory_controller | ||
action_ns: follow_joint_trajectory | ||
type: FollowJointTrajectory | ||
default: true | ||
joints: | ||
- panda_joint1 | ||
- panda_joint2 | ||
- panda_joint3 | ||
- panda_joint4 | ||
- panda_joint5 | ||
- panda_joint6 | ||
- panda_joint7 | ||
- name: franka_gripper | ||
action_ns: gripper_action | ||
type: GripperCommand | ||
default: true | ||
joints: | ||
- panda_finger_joint1 | ||
- panda_finger_joint2 |
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controller_list: | ||
- name: position_joint_trajectory_controller | ||
action_ns: follow_joint_trajectory | ||
type: FollowJointTrajectory | ||
default: true | ||
joints: | ||
- panda_joint1 | ||
- panda_joint2 | ||
- panda_joint3 | ||
- panda_joint4 | ||
- panda_joint5 | ||
- panda_joint6 | ||
- panda_joint7 |
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<?xml version="1.0" ?> | ||
<!-- | ||
Used to control a real robot using moveit | ||
--> | ||
<launch> | ||
<arg name="load_gripper" default="true" /> | ||
<arg name="launch_rviz" default="true" /> | ||
<!-- | ||
By default we load the franka controllers.Disable this option if the controllers are | ||
running on a seperate workstation | ||
--> | ||
<arg name="launch_franka_control" default="true" /> | ||
<group if="$(arg launch_franka_control)"> | ||
<arg name="robot_ip" /> | ||
</group> | ||
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<!-- If needed, broadcast static tf for robot root --> | ||
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" /> | ||
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<include if="$(arg launch_franka_control)" file="$(find franka_control)/launch/franka_control.launch"> | ||
<arg name="robot_ip" value="$(arg robot_ip)" /> | ||
<arg name="load_gripper" value="$(arg load_gripper)" /> | ||
</include> | ||
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<include file="$(find panda_moveit_config)/launch/panda_moveit.launch"> | ||
<arg name="load_gripper" value="$(arg load_gripper)" /> | ||
</include> | ||
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<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" if="$(arg launch_rviz)"/> | ||
</launch> |
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<launch> | ||
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<!-- this argument is not used here, only necessary so that this launch file has the same args as fake_moveit_controller_manager.launch --> | ||
<arg name="execution_type" default="unused" /> | ||
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<!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> | ||
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> | ||
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> | ||
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<!-- load controller_list --> | ||
<rosparam file="$(find panda_moveit_config)/config/panda_gripper_moveit_controllers.yaml"/> | ||
</launch> |
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<?xml version="1.0" ?> | ||
<launch> | ||
<arg name="load_gripper" default="true" /> | ||
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<include file="$(dirname)/ros_controllers.launch"/> | ||
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<include file="$(find panda_moveit_config)/launch/move_group.launch"> | ||
<arg name="load_gripper" value="$(arg load_gripper)" /> | ||
</include> | ||
</launch> |
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