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Add simulation argument to the launch file

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Michel Breyer 2021-11-18 15:40:32 +01:00
parent 40db08421b
commit 939c5dba68
1 changed files with 10 additions and 8 deletions
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18
launch/simulation.launch → launch/env.launch
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@ -1,21 +1,23 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<launch> <launch>
<arg name="rviz" default="false" /> <arg name="launch_rviz" default="false" />
<arg name="simulation" default="true" />
<!-- Load parameters --> <!-- Load parameters -->
<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" /> <rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
<!-- Launch simulated robot --> <!-- Load robot description -->
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" /> <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" /> <group if="$(arg simulation)">
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
</group>
<!-- Launch MoveIt --> <!-- Launch MoveIt -->
<node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" /> <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/move_group.launch"> <include file="$(find panda_moveit_config)/launch/move_group.launch" />
<arg name="pipeline" value="ompl"/>
</include>
<!-- Launch rviz --> <!-- Launch rviz -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" /> <node if="$(arg launch_rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" />
</launch> </launch>