From eef30680c0e9d2826601b7b3ca9aef44263bbc8c Mon Sep 17 00:00:00 2001 From: Niko Date: Mon, 4 Sep 2023 16:38:39 +0200 Subject: [PATCH] added moveit_interface --- .../launch/moveit_without_hand.launch.py | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/franka_moveit_config/launch/moveit_without_hand.launch.py b/franka_moveit_config/launch/moveit_without_hand.launch.py index f85751a..57577af 100644 --- a/franka_moveit_config/launch/moveit_without_hand.launch.py +++ b/franka_moveit_config/launch/moveit_without_hand.launch.py @@ -207,6 +207,16 @@ def generate_launch_description(): output='screen', condition=UnlessCondition(use_fake_hardware), ) + + moveit_interface = Node( + package='franka_moveit_interface', + executable='moveit_interface', + output='screen', + parameters=[ + robot_description, + robot_description_semantic, + ], + ) robot_arg = DeclareLaunchArgument( robot_ip_parameter_name, @@ -214,7 +224,7 @@ def generate_launch_description(): use_fake_hardware_arg = DeclareLaunchArgument( use_fake_hardware_parameter_name, - default_value='false', + default_value='true', description='Use fake hardware') fake_sensor_commands_arg = DeclareLaunchArgument( fake_sensor_commands_parameter_name, @@ -231,7 +241,8 @@ def generate_launch_description(): run_move_group_node, ros2_control_node, joint_state_publisher, - franka_robot_state_broadcaster + franka_robot_state_broadcaster, + moveit_interface, ] + load_controllers )