moveit_interface.cpp works

franka_moveit_config/launch/moveit_without_hand.launch.py

@@ -210,11 +210,17 @@ def generate_launch_description():
     
     moveit_interface = Node(
         package='franka_moveit_interface',
-        executable='moveit_interface',
+        executable='franka_moveit_interface',
+        name='franka_moveit_interface',
         output='screen',
         parameters=[
             robot_description,
             robot_description_semantic,
+            kinematics_yaml,
+            ompl_planning_pipeline_config,
+            trajectory_execution,
+            moveit_controllers,
+            planning_scene_monitor_parameters,
         ],
     )