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Commit 8b48384b authored by Florian Walch's avatar Florian Walch
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Use q_d instead of q for move group

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......@@ -2,7 +2,6 @@
<launch>
<arg name="robot_ip" />
<arg name="load_gripper" default="true" />
<arg name="publish_desired_values" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
......@@ -16,10 +15,12 @@
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam if="$(eval load_gripper and publish_desired_values)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<rosparam if="$(eval load_gripper and not publish_desired_values)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<rosparam if="$(eval not load_gripper and publish_desired_values)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
<rosparam if="$(eval not load_gripper and not publish_desired_values)" param="source_list">[franka_state_controller/joint_states] </rosparam>
<param name="rate" value="30"/>
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
<remap from="/joint_states" to="/joint_states_desired" />
</node>
</launch>
......@@ -71,6 +71,8 @@
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
<remap from="/joint_states" to="/joint_states_desired" />
</node>
</launch>
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