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fix mycobot_280 xml.

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Zachary 2021-07-12 16:31:07 +08:00
parent 8a6708e33e
commit 36e4d4b7c4
2 changed files with 61 additions and 0 deletions
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4
mycobot_280/package.xml
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@ -17,6 +17,8 @@
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>mycobot_description</build_depend>
<build_depend>mycobot_communication</build_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
@ -30,6 +32,8 @@
<exec_depend>rviz</exec_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>python-tk</exec_depend>
<exec_depend>mycobot_description</exec_depend>
<exec_depend>mycobot_communication</exec_depend>
<!-- The export tag contains other, unspecified, tags -->

57
mycobot_280_moveit/launch/mycobot_moveit.launch Normal file
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@ -0,0 +1,57 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_280_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mycobot_280_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mycobot_280_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mycobot_280_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mycobot_280_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>