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compile.bash
_robot_setup.launch 1.74 KiB
<launch>
<arg name="robot_ip" default="172.31.1.13" />
<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="$(arg load_gripper)"/>
</include>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find ccf)/config/panda_control.yaml" command="load" />
<param name="move_group/trajectory_execution/allowed_execution_duration_scaling" value="4.0" />
<param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" />
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller " />
<include file="$(find panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true" />
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 1 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
<rosparam file="$(find ccf)/config/config.yaml" command="load" />
<rosparam file="$(find ccf)/config/config_realrobot.yaml" command="load" />
<node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
<rosparam file="$(find ccf)/config/config.yaml" command="load" />
</launch>