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Commit f7d41108 authored by KingMaZito's avatar KingMaZito
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results/dummy/-918908789/launch/panda_arm1_-918908789.launch 0 → 100644
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View file @ f7d41108
<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 -3.14159"/>
<arg name="result" default="dummy/-918908789/-918908789.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/-918908789/launch/panda_arm2_-918908789.launch 0 → 100644
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View file @ f7d41108
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/>
<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
<arg name="result" default="dummy/-918908789/-918908789.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/1040381609/launch/panda_arm1_1040381609.launch 0 → 100644
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View file @ f7d41108
<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 -3.14159"/>
<arg name="result" default="dummy/1040381609/1040381609.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/1040381609/launch/panda_arm2_1040381609.launch 0 → 100644
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<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/>
<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
<arg name="result" default="dummy/1040381609/1040381609.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/1053289444/launch/panda_arm1_1053289444.launch 0 → 100644
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<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/1053289444/1053289444.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/1053289444/launch/panda_arm2_1053289444.launch 0 → 100644
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<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/1053289444/1053289444.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
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<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/110121597/110121597.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/110121597/launch/panda_arm2_110121597.launch 0 → 100644
+ 58
− 0
View file @ f7d41108
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/110121597/110121597.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="hand"/>
<param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
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