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https://github.com/elephantrobotics/mycobot_ros.git
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65 lines
3.1 KiB
XML
65 lines
3.1 KiB
XML
<launch>
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<!-- By default, we do not start a database (it can be large) -->
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<!-- 默认情况下，我们不启动数据库（它可能很大） -->
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<arg name="db" default="false" />
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<!-- Allow user to specify database location -->
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<!-- 允许用户指定数据库位置 -->
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<arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
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<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 -->
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<arg name="debug" default="false" />
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<!--
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By default, hide joint_state_publisher's GUI
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MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
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The latter one maintains and publishes the current joint configuration of the simulated robot.
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It also provides a GUI to move the simulated robot around "manually".
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This corresponds to moving around the real robot without the use of MoveIt.
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-->
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<arg name="use_gui" default="false" />
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<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
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<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
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<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
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<arg name="load_robot_description" value="true"/>
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</include>
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<!-- If needed, broadcast static tf for robot root -->
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<!-- We do not have a robot connected, so publish fake joint states -->
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<!-- 我们没有连接机器人，所以发布假关节状态 -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="use_gui" value="$(arg use_gui)"/>
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<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
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</node>
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<!-- Given the published joint states, publish tf for the robot links -->
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<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
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<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
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<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
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<include file="$(find mycobot_630_moveit)/launch/move_group.launch">
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<arg name="allow_trajectory_execution" value="true"/>
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<arg name="fake_execution" value="true"/>
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<arg name="info" value="true"/>
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<arg name="debug" value="$(arg debug)"/>
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</include>
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<!-- Run Rviz and load the default config to see the state of the move_group node -->
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<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
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<include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
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<arg name="config" value="true"/>
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<arg name="debug" value="$(arg debug)"/>
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</include>
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<!-- If database loading was enabled, start mongodb as well -->
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<!-- 如果启用了数据库加载，也启动 mongodb -->
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<include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
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<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
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</include>
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</launch>
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