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Execute grasps with MoveIt

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This commit is contained in:
Michel Breyer
2021-09-04 15:50:29 +02:00
parent c508c65038
commit 3f3b58f404
7 changed files with 416 additions and 154 deletions
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8
launch/simulation.launch
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@@ -2,12 +2,18 @@
<launch>
<arg name="launch_rviz" default="false" />
<!-- Load parameters -->
<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
<!-- Launch simulated robot -->
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/franka/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
<!-- Launch MoveIt -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster" args="0 0 0 0 0 0 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/move_group.launch" />
<!-- Launch rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
</launch>