quad_cell_routine.launch

<launch>    
    <arg name="result" default="evaluation/quadrupel_eval.yaml" />
    <arg name="jobs" default="jobs/eval_quad.yaml" />

    <!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> -->

    <!-- this is to change-->
    <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
    <rosparam command="load" file="$(find multi_cell_builder)/mtc_templates/dummy.yaml" />
    <rosparam command="load" file="$(find multi_cell_builder)/maps/dummy.yaml"/>
    <rosparam command="load" file="$(find multi_cell_builder)/$(arg jobs)"/>


    
    <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam>

    <include file="$(find ceti_quadrupel)/launch/demo.launch"> 
        <arg name="use_rviz" value="false"/>
        <arg name="scene" value="$(arg result)" />
    </include> 
    
    <include ns="cell_routine" file="$(find ceti_quadrupel)/launch/fake_moveit_controller_manager.launch.xml" />
    <param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability" />

    <include file="$(find ceti_quadrupel)/launch/moveit_rviz.launch">
        <arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" />
    </include>

    <node pkg="groot" type="Groot" name="Groot" output="screen" required="true">
    </node>

    <node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true">
    </node>
</launch>