From 36e4d4b7c425acfac011945fdf0d168d3dc57df4 Mon Sep 17 00:00:00 2001
From: Zachary <zlj19971222@outlook.com>
Date: Mon, 12 Jul 2021 16:31:07 +0800
Subject: [PATCH] fix mycobot_280 xml.

---
 mycobot_280/package.xml                       |  4 ++
 .../launch/mycobot_moveit.launch              | 57 +++++++++++++++++++
 2 files changed, 61 insertions(+)
 create mode 100644 mycobot_280_moveit/launch/mycobot_moveit.launch

diff --git a/mycobot_280/package.xml b/mycobot_280/package.xml
index 68c0896..a095764 100644
--- a/mycobot_280/package.xml
+++ b/mycobot_280/package.xml
@@ -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 -->
diff --git a/mycobot_280_moveit/launch/mycobot_moveit.launch b/mycobot_280_moveit/launch/mycobot_moveit.launch
new file mode 100644
index 0000000..6f44a3f
--- /dev/null
+++ b/mycobot_280_moveit/launch/mycobot_moveit.launch
@@ -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>