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planning_context.launch

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  • planning_context.launch 1.30 KiB
    <launch>
      <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
      <arg name="load_robot_description" default="false"/>
      <arg name="scene" default="dummy/dummy.yaml"/>
    
    
      <!-- The name of the parameter under which the URDF is loaded -->
      <arg name="robot_description" default="robot_description"/>
    
      <!-- Load universal robot description format (URDF) -->
      <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find franka_description)/robots/ceti_double.urdf.xacro' 'scene:=$(arg scene)'"/>
    
      <!-- The semantic description that corresponds to the URDF -->
      <param name="$(arg robot_description)_semantic" textfile="$(find ceti_double)/config/panda.srdf" />
    
      <!-- Load updated joint limits (override information from URDF) -->
      <group ns="$(arg robot_description)_planning">
        <rosparam command="load" file="$(find ceti_double)/config/joint_limits.yaml"/>
        <rosparam command="load" file="$(find ceti_double)/config/cartesian_limits.yaml"/>
      </group>
    
      <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
      <group ns="$(arg robot_description)_kinematics">
        <rosparam command="load" file="$(find ceti_double)/config/kinematics.yaml"/>
    
      </group>
    
    </launch>