added moveit_interface

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
     )