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Change order of launch file

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This commit is contained in:
Michel Breyer 2021-11-24 17:14:11 +01:00
parent 79276af66f
commit 488a04f5ae
1 changed files with 4 additions and 4 deletions
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8
launch/env.launch
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@ -6,6 +6,10 @@
<!-- Load parameters -->
<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
<!-- Launch MoveIt -->
<node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/move_group.launch" />
<!-- Simulated environment -->
<group if="$(arg simulation)">
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
@ -18,10 +22,6 @@
<node pkg="active_grasp" type="hw_node.py" name="hw" output="screen" />
</group>
<!-- Launch MoveIt -->
<node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/move_group.launch" />
<!-- Launch rviz -->
<node if="$(arg launch_rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/cfg/active_grasp.rviz" />
</launch>