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added moveit_interface

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This commit is contained in:
Niko Feith 2023-09-04 16:38:39 +02:00
parent b2645c0c4c
commit eef30680c0
1 changed files with 13 additions and 2 deletions
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15
franka_moveit_config/launch/moveit_without_hand.launch.py
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@ -208,13 +208,23 @@ def generate_launch_description():
condition=UnlessCondition(use_fake_hardware), 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_arg = DeclareLaunchArgument(
robot_ip_parameter_name, robot_ip_parameter_name,
description='Hostname or IP address of the robot.') description='Hostname or IP address of the robot.')
use_fake_hardware_arg = DeclareLaunchArgument( use_fake_hardware_arg = DeclareLaunchArgument(
use_fake_hardware_parameter_name, use_fake_hardware_parameter_name,
default_value='false', default_value='true',
description='Use fake hardware') description='Use fake hardware')
fake_sensor_commands_arg = DeclareLaunchArgument( fake_sensor_commands_arg = DeclareLaunchArgument(
fake_sensor_commands_parameter_name, fake_sensor_commands_parameter_name,
@ -231,7 +241,8 @@ def generate_launch_description():
run_move_group_node, run_move_group_node,
ros2_control_node, ros2_control_node,
joint_state_publisher, joint_state_publisher,
franka_robot_state_broadcaster franka_robot_state_broadcaster,
moveit_interface,
] ]
+ load_controllers + load_controllers
) )