added moveit_interface

franka_moveit_config/launch/moveit_without_hand.launch.py

@@ -208,13 +208,23 @@ def generate_launch_description():
             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,
         description='Hostname or IP address of the robot.')
 
     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
     )