diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9109c475d6411e3a8135f2ca9c2e4375e9b01164..d62af0998eab060a0158f3bc1e6e6554eccfcc0e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,9 @@
* Updated joint limits from URDF
* Removed `home` poses
* Fixed fake execution
+ * Add `load_gripper` argument (default: `true`) to `panda_moveit.launch`
+ * Conditionally load controllers/SRDFs based on `load_gripper`
+ * Add gripper controller configuration (requires running `franka_gripper_node`)
* Added `mimic` tag for gripper fingers to URDF
## 0.3.0 - 2018-02-22
diff --git a/franka_example_controllers/launch/move_to_start.launch b/franka_example_controllers/launch/move_to_start.launch
index 15c8f66dab4e7a618b3f9746e5227dbd5f9e8a25..c585b47c8582ab3452f188a5b27277aa97e9c9cc 100644
--- a/franka_example_controllers/launch/move_to_start.launch
+++ b/franka_example_controllers/launch/move_to_start.launch
@@ -1,13 +1,13 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="load_gripper" default="true" />
<include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
- <arg name="load_gripper" value="$(arg load_gripper)" />
+ <arg name="load_gripper" value="false" />
</include>
<include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
+ <arg name="load_gripper" value="false" />
</include>
<node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</launch>
diff --git a/panda_moveit_config/.setup_assistant b/panda_moveit_config/.setup_assistant
index 2388fcc6116498156258c80c999a4334e7ccd1d2..8e1392be649cbbedb5f7380535b117bc68b4cca9 100644
--- a/panda_moveit_config/.setup_assistant
+++ b/panda_moveit_config/.setup_assistant
@@ -3,7 +3,7 @@ moveit_setup_assistant_config:
package: franka_description
relative_path: robots/panda_arm_hand.urdf.xacro
SRDF:
- relative_path: config/panda_arm_hand.srdf
+ relative_path: config/panda_arm_hand.srdf.xacro
CONFIG:
author_name: Franka Emika GmbH
author_email: info@franka.de
diff --git a/panda_moveit_config/config/hand.xacro b/panda_moveit_config/config/hand.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..566f1c1b6ddec3569864fd1067f8f7c4e510064b
--- /dev/null
+++ b/panda_moveit_config/config/hand.xacro
@@ -0,0 +1,23 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+ <xacro:macro name="hand">
+ <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+ <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+ <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+ <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+ <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+ <group name="hand">
+ <link name="panda_hand" />
+ <link name="panda_leftfinger" />
+ <link name="panda_rightfinger" />
+ <joint name="panda_finger_joint1" />
+ <passive_joint name="panda_finger_joint2" />
+ </group>
+ <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+ <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+ <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+ <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent" />
+ <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent" />
+ <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default" />
+ </xacro:macro>
+</robot>
diff --git a/panda_moveit_config/config/panda_arm.srdf.xacro b/panda_moveit_config/config/panda_arm.srdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..76b4c9ee266915df3be1c8c4f3fd48a8972b6144
--- /dev/null
+++ b/panda_moveit_config/config/panda_arm.srdf.xacro
@@ -0,0 +1,9 @@
+<?xml version='1.0' encoding='utf-8'?>
+<!--This does not replace URDF, and is not an extension of URDF.
+ This is a format for representing semantic information about the robot structure.
+ A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+ <xacro:include filename="$(find panda_moveit_config)/config/panda_arm.xacro" />
+ <xacro:panda_arm />
+</robot>
diff --git a/panda_moveit_config/config/panda_arm.xacro b/panda_moveit_config/config/panda_arm.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..bb1683520e1357a35d0d3aaea01a11ed6d284d7d
--- /dev/null
+++ b/panda_moveit_config/config/panda_arm.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+ <xacro:macro name="panda_arm">
+ <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+ <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+ <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+ <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+ <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+ <group name="panda_arm">
+ <link name="panda_link0" />
+ <link name="panda_link1" />
+ <link name="panda_link2" />
+ <link name="panda_link3" />
+ <link name="panda_link4" />
+ <link name="panda_link5" />
+ <link name="panda_link6" />
+ <link name="panda_link7" />
+ <link name="panda_link8" />
+ <joint name="panda_joint1" />
+ <joint name="panda_joint2" />
+ <joint name="panda_joint3" />
+ <joint name="panda_joint4" />
+ <joint name="panda_joint5" />
+ <joint name="panda_joint6" />
+ <joint name="panda_joint7" />
+ <joint name="panda_joint8" />
+ <chain base_link="panda_link0" tip_link="panda_link8" />
+ </group>
+ <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+ <group_state name="ready" group="panda_arm">
+ <joint name="panda_joint1" value="0" />
+ <joint name="panda_joint2" value="-0.785" />
+ <joint name="panda_joint3" value="0" />
+ <joint name="panda_joint4" value="-2.356" />
+ <joint name="panda_joint5" value="0" />
+ <joint name="panda_joint6" value="1.571" />
+ <joint name="panda_joint7" value="0.785" />
+ </group_state>
+ <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+ <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+ <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent" />
+ <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never" />
+ <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
+ <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
+ <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
+ <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
+ <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never" />
+ <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
+ <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
+ <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
+ <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default" />
+ <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
+ </xacro:macro>
+</robot>
diff --git a/panda_moveit_config/config/panda_arm_hand.srdf b/panda_moveit_config/config/panda_arm_hand.srdf
deleted file mode 100644
index bfcde8d38967d8760757c6135d1657a027fb817d..0000000000000000000000000000000000000000
--- a/panda_moveit_config/config/panda_arm_hand.srdf
+++ /dev/null
@@ -1,119 +0,0 @@
-<?xml version="1.0" ?>
-<!--This does not replace URDF, and is not an extension of URDF.
- This is a format for representing semantic information about the robot structure.
- A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="panda">
- <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
- <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
- <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
- <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
- <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
- <group name="panda_arm">
- <link name="panda_link0" />
- <link name="panda_link1" />
- <link name="panda_link2" />
- <link name="panda_link3" />
- <link name="panda_link4" />
- <link name="panda_link5" />
- <link name="panda_link6" />
- <link name="panda_link7" />
- <link name="panda_link8" />
- <joint name="panda_joint1" />
- <joint name="panda_joint2" />
- <joint name="panda_joint3" />
- <joint name="panda_joint4" />
- <joint name="panda_joint5" />
- <joint name="panda_joint6" />
- <joint name="panda_joint7" />
- <joint name="panda_joint8" />
- <chain base_link="panda_link0" tip_link="panda_link8" />
- </group>
- <group name="panda_arm_hand">
- <link name="panda_link0" />
- <link name="panda_link1" />
- <link name="panda_link2" />
- <link name="panda_link3" />
- <link name="panda_link4" />
- <link name="panda_link5" />
- <link name="panda_link6" />
- <link name="panda_link7" />
- <link name="panda_link8" />
- <link name="panda_hand" />
- <joint name="panda_joint1" />
- <joint name="panda_joint2" />
- <joint name="panda_joint3" />
- <joint name="panda_joint4" />
- <joint name="panda_joint5" />
- <joint name="panda_joint6" />
- <joint name="panda_joint7" />
- <joint name="panda_joint8" />
- <joint name="panda_hand_joint" />
- <chain base_link="panda_link0" tip_link="panda_hand" />
- </group>
- <group name="hand">
- <link name="panda_hand" />
- <link name="panda_leftfinger" />
- <link name="panda_rightfinger" />
- <joint name="panda_finger_joint1" />
- <joint name="panda_finger_joint2" />
- </group>
- <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
- <group_state name="ready" group="panda_arm">
- <joint name="panda_joint1" value="0" />
- <joint name="panda_joint2" value="-0.785" />
- <joint name="panda_joint3" value="0" />
- <joint name="panda_joint4" value="-2.356" />
- <joint name="panda_joint5" value="0" />
- <joint name="panda_joint6" value="1.571" />
- <joint name="panda_joint7" value="0.785" />
- </group_state>
- <group_state name="ready" group="panda_arm_hand">
- <joint name="panda_joint1" value="0" />
- <joint name="panda_joint2" value="-0.785" />
- <joint name="panda_joint3" value="0" />
- <joint name="panda_joint4" value="-2.356" />
- <joint name="panda_joint5" value="0" />
- <joint name="panda_joint6" value="1.571" />
- <joint name="panda_joint7" value="0.785" />
- </group_state>
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="hand" parent_link="panda_hand" group="hand" parent_group="panda_arm_hand" />
- <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
- <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent" />
- <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
- <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
- <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default" />
- <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
- <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
- <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent" />
- <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />
- <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never" />
- <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never" />
- <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never" />
- <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default" />
- <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent" />
- <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never" />
- <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
- <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
- <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
- <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never" />
- <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
- <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
- <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
- <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
- <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
- <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
- <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
- <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never" />
- <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never" />
- <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
- <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
- <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
- <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never" />
- <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
- <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default" />
- <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
- <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never" />
- <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never" />
-</robot>
diff --git a/panda_moveit_config/config/panda_arm_hand.srdf.xacro b/panda_moveit_config/config/panda_arm_hand.srdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..df3985bbd1a3ca0d4aaf23740733123b02188a88
--- /dev/null
+++ b/panda_moveit_config/config/panda_arm_hand.srdf.xacro
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<!--This does not replace URDF, and is not an extension of URDF.
+ This is a format for representing semantic information about the robot structure.
+ A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+ <xacro:include filename="$(find panda_moveit_config)/config/panda_arm.xacro" />
+ <xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
+ <xacro:panda_arm />
+ <xacro:hand />
+ <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+ <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+ <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+ <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+ <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+ <group name="panda_arm_hand">
+ <group name="panda_arm" />
+ <group name="hand" />
+ </group>
+ <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+ <group_state name="ready" group="panda_arm_hand">
+ <joint name="panda_joint1" value="0" />
+ <joint name="panda_joint2" value="-0.785" />
+ <joint name="panda_joint3" value="0" />
+ <joint name="panda_joint4" value="-2.356" />
+ <joint name="panda_joint5" value="0" />
+ <joint name="panda_joint6" value="1.571" />
+ <joint name="panda_joint7" value="0.785" />
+ </group_state>
+ <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+ <end_effector name="hand" parent_link="panda_hand" group="hand" parent_group="panda_arm_hand" />
+ <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+ <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default" />
+ <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
+ <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never" />
+ <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never" />
+ <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never" />
+ <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never" />
+ <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never" />
+</robot>
diff --git a/panda_moveit_config/config/panda_controllers.yaml b/panda_moveit_config/config/panda_controllers.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..29d83ea46a8576121aaa76251741966411a56c2f
--- /dev/null
+++ b/panda_moveit_config/config/panda_controllers.yaml
@@ -0,0 +1,12 @@
+controller_list:
+ - name: position_joint_trajectory_controller
+ action_ns: follow_joint_trajectory
+ type: FollowJointTrajectory
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
diff --git a/panda_moveit_config/config/panda_gripper_controllers.yaml b/panda_moveit_config/config/panda_gripper_controllers.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f31e6beb6b8d1953ace5a6869d55263aa4486234
--- /dev/null
+++ b/panda_moveit_config/config/panda_gripper_controllers.yaml
@@ -0,0 +1,19 @@
+controller_list:
+ - name: position_joint_trajectory_controller
+ action_ns: follow_joint_trajectory
+ type: FollowJointTrajectory
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
+ - name: franka_gripper
+ action_ns: gripper_action
+ type: GripperCommand
+ parallel: true
+ joints:
+ - panda_finger_joint1
+ - panda_finger_joint2
diff --git a/panda_moveit_config/launch/move_group.launch b/panda_moveit_config/launch/move_group.launch
index 5b8c8665ad9d5fcd871f8dc43a42c27875a232a4..d5ef479501923c14ce9036c6f3433d6fd07d8844 100644
--- a/panda_moveit_config/launch/move_group.launch
+++ b/panda_moveit_config/launch/move_group.launch
@@ -1,6 +1,10 @@
<launch>
- <include file="$(find panda_moveit_config)/launch/planning_context.launch" />
+ <arg name="load_gripper" default="true" />
+
+ <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+ <arg name="load_gripper" value="$(arg load_gripper)" />
+ </include>
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
@@ -27,7 +31,8 @@
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find panda_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
- <arg name="moveit_controller_manager" value="panda" unless="$(arg fake_execution)"/>
+ <arg name="moveit_controller_manager" value="panda" if="$(eval not arg('fake_execution') and not arg('load_gripper'))"/>
+ <arg name="moveit_controller_manager" value="panda_gripper" if="$(eval not arg('fake_execution') and arg('load_gripper'))"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
</include>
diff --git a/panda_moveit_config/launch/panda_gripper_moveit_controller_manager.launch.xml b/panda_moveit_config/launch/panda_gripper_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..75a68a0d8bd7bfef00e4311edfb0680701a35db0
--- /dev/null
+++ b/panda_moveit_config/launch/panda_gripper_moveit_controller_manager.launch.xml
@@ -0,0 +1,6 @@
+<launch>
+ <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+ <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+ <rosparam file="$(find panda_moveit_config)/config/panda_gripper_controllers.yaml"/>
+</launch>
diff --git a/panda_moveit_config/launch/panda_moveit.launch b/panda_moveit_config/launch/panda_moveit.launch
index cab708e88cb73ec9666391a4eef243cacd64c762..dd5c0add4ce04104570861e242a17d17213e52dd 100644
--- a/panda_moveit_config/launch/panda_moveit.launch
+++ b/panda_moveit_config/launch/panda_moveit.launch
@@ -2,7 +2,11 @@
<launch>
<!-- Valid values: "position", "effort" -->
<arg name="controller" default="position" />
+ <arg name="load_gripper" default="true" />
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller"/>
- <include file="$(find panda_moveit_config)/launch/move_group.launch" />
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller"/>
+
+ <include file="$(find panda_moveit_config)/launch/move_group.launch">
+ <arg name="load_gripper" value="$(arg load_gripper)" />
+ </include>
</launch>
diff --git a/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml b/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml
index 353670175cebaad2fcdb8b356ef235c6444943ec..afd6d37973c9209fb74ad2b9f83cc68761df22d0 100644
--- a/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml
+++ b/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml
@@ -1,4 +1,6 @@
<launch>
- <arg name="moveit_controller_manager" default="moveit_ros_control_interface::MoveItMultiControllerManager" />
- <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+ <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+ <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+ <rosparam file="$(find panda_moveit_config)/config/panda_controllers.yaml"/>
</launch>
diff --git a/panda_moveit_config/launch/planning_context.launch b/panda_moveit_config/launch/planning_context.launch
index 1d4b6e048d31ab5bd3144bc324cc69945b5d90ae..e96133948929741d8d126e5942e648f3969029dd 100644
--- a/panda_moveit_config/launch/planning_context.launch
+++ b/panda_moveit_config/launch/planning_context.launch
@@ -1,4 +1,6 @@
<launch>
+ <arg name="load_gripper" default="true" />
+
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
@@ -6,10 +8,12 @@
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
- <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+ <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+ <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
<!-- The semantic description that corresponds to the URDF -->
- <param name="$(arg robot_description)_semantic" textfile="$(find panda_moveit_config)/config/panda_arm_hand.srdf" />
+ <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
+ <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">