2021-04-26 10:45:00 +02:00
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<?xml version="1.0" ?>
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<launch>
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<!-- Arguments -->
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2021-05-26 14:46:12 +02:00
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<arg name="launch_rviz" default="true" />
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2021-04-26 10:45:00 +02:00
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<!-- Load parameters. -->
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2021-04-29 10:50:33 +02:00
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<rosparam command="load" file="$(find active_grasp)/config/active_grasp.yaml" subst_value="true" />
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2021-04-27 11:45:57 +02:00
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<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
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2021-04-26 10:45:00 +02:00
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<!-- Bringup the robot -->
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2021-04-26 20:10:52 +02:00
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<node pkg="active_grasp" type="bt_sim_node.py" name="simulation" args="--gui" output="screen" />
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2021-04-26 10:45:00 +02:00
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
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2021-06-02 10:54:52 +02:00
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<!-- Launch MoveIt -->
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<!-- <include file="$(find panda_moveit_config)/launch/move_group.launch" /> -->
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2021-04-26 10:45:00 +02:00
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<!-- Visualize the robot. -->
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2021-05-26 14:46:12 +02:00
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" if="$(arg launch_rviz)" />
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2021-04-26 10:45:00 +02:00
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</launch>
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