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https://github.com/elephantrobotics/mycobot_ros.git
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101 lines
4.4 KiB
XML
101 lines
4.4 KiB
XML
<launch>
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<!-- GDB Debug Option -->
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<arg name="debug" default="false" />
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<arg unless="$(arg debug)" name="launch_prefix" value="" />
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<arg if="$(arg debug)" name="launch_prefix"
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value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
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<!-- Verbose Mode Option -->
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<arg name="info" default="$(arg debug)" />
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<arg unless="$(arg info)" name="command_args" value="" />
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<arg if="$(arg info)" name="command_args" value="--debug" />
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<!-- move_group settings -->
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<arg name="pipeline" default="ompl" />
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<arg name="allow_trajectory_execution" default="true"/>
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<arg name="moveit_controller_manager" default="simple" />
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<arg name="fake_execution_type" default="interpolate"/>
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<arg name="max_safe_path_cost" default="1"/>
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<arg name="publish_monitored_planning_scene" default="true"/>
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<arg name="capabilities" default=""/>
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<arg name="disable_capabilities" default=""/>
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<!-- load these non-default MoveGroup capabilities (space seperated) -->
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<!--
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<arg name="capabilities" value="
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a_package/AwsomeMotionPlanningCapability
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another_package/GraspPlanningPipeline
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" />
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-->
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<!-- inhibit these default MoveGroup capabilities (space seperated) -->
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<!--
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<arg name="disable_capabilities" value="
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move_group/MoveGroupKinematicsService
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move_group/ClearOctomapService
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" />
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-->
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<arg name="load_robot_description" default="false" />
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<!-- load URDF, SRDF and joint_limits configuration -->
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<include file="$(dirname)/planning_context.launch">
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<arg name="load_robot_description" value="$(arg load_robot_description)" />
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</include>
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<!-- Planning Pipelines -->
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<group ns="move_group/planning_pipelines">
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<!-- OMPL -->
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<include file="$(dirname)/planning_pipeline.launch.xml">
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<arg name="pipeline" value="ompl" />
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</include>
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<!-- CHOMP -->
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<include file="$(dirname)/planning_pipeline.launch.xml">
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<arg name="pipeline" value="chomp" />
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</include>
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<!-- Pilz Industrial Motion -->
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<include file="$(dirname)/planning_pipeline.launch.xml">
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<arg name="pipeline" value="pilz_industrial_motion_planner" />
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</include>
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<!-- Support custom planning pipeline -->
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<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
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file="$(dirname)/planning_pipeline.launch.xml">
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<arg name="pipeline" value="$(arg pipeline)" />
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</include>
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</group>
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<!-- Trajectory Execution Functionality -->
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<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
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<arg name="moveit_manage_controllers" value="true" />
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<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
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<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
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</include>
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<!-- Sensors Functionality -->
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<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
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<arg name="moveit_sensor_manager" value="firefighter" />
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</include>
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<!-- Start the actual move_group node/action server -->
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<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
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<!-- Set the display variable, in case OpenGL code is used internally -->
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<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
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<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
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<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
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<param name="default_planning_pipeline" value="$(arg pipeline)" />
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<param name="capabilities" value="$(arg capabilities)" />
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<param name="disable_capabilities" value="$(arg disable_capabilities)" />
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<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
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<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
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<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
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<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
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<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
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</node>
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</launch>
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