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fix urdf of launch error.

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fix launch problem.
This commit is contained in:
张立军 2021-07-06 15:03:03 +08:00 • committed by Zachary
parent cd4ad7922c
commit ec99780783
7 changed files with 13 additions and 13 deletions
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16
launch/demo_gazebo.launch → launch/mycobot_moveit/demo_gazebo.launch
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@ -22,22 +22,22 @@
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
<arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mycobot_ros)/launch/gazebo.launch" >
<include file="$(find mycobot_ros)/launch/mycobot_moveit/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mycobot_ros)/launch/planning_context.launch">
<include file="$(find mycobot_ros)/launch/mycobot_moveit/mycobot_moveit/planning_context.launch">
<arg name="load_robot_description" value="false"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
@ -49,21 +49,21 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mycobot_ros)/launch/move_group.launch">
<include file="$(find mycobot_ros)/launch/mycobot_moveit/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mycobot_ros)/launch/moveit_rviz.launch">
<include file="$(find mycobot_ros)/launch/mycobot_moveit/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_ros)/launch/default_warehouse_db.launch" if="$(arg db)">
<include file="$(find mycobot_ros)/launch/mycobot_moveit/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

4
launch/gazebo.launch → launch/mycobot_moveit/gazebo.launch
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@ -2,7 +2,7 @@
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
<arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
@ -18,6 +18,6 @@
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
respawn="false" output="screen" />
<include file="$(find mycobot_ros)/launch/ros_controllers.launch"/>
<include file="$(find mycobot_ros)/launch/mycobot_moveit/ros_controllers.launch"/>
</launch>

0
launch/joystick_control.launch → launch/mycobot_moveit/joystick_control.launch
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4
launch/run_benchmark_ompl.launch → launch/mycobot_moveit/run_benchmark_ompl.launch
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@ -4,12 +4,12 @@
<arg name="cfg" default="" />
<!-- Load URDF -->
<include file="$(find mycobot_ros)/launch/planning_context.launch">
<include file="$(find mycobot_ros)/launch/mycobot_moveit/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(find mycobot_ros)/launch/warehouse.launch">
<include file="$(find mycobot_ros)/launch/mycobot_moveit/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>

0
launch/setup_assistant.launch → launch/mycobot_moveit/setup_assistant.launch
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2
launch/warehouse.launch → launch/mycobot_moveit/warehouse.launch
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@ -4,7 +4,7 @@
<arg name="moveit_warehouse_database_path" default="" />
<!-- Load warehouse parameters -->
<include file="$(find mycobot_ros)/launch/warehouse_settings.launch.xml" />
<include file="$(find mycobot_ros)/launch/mycobot_moveit/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">

0
launch/warehouse_settings.launch.xml → launch/mycobot_moveit/warehouse_settings.launch.xml
View file