hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Change MoveIt planner

Browse Source
This commit is contained in:
Michel Breyer
2021-10-13 11:59:10 +02:00
parent e5da49d0a6
commit 8a1b8130dc
2 changed files with 9 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
launch/simulation.launch
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
<arg name="launch_rviz" default="false" />
<arg name="rviz" default="false" />
<!-- Load parameters -->
<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
@@ -12,8 +12,10 @@
<!-- Launch MoveIt -->
<node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/move_group.launch" />
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="pipeline" value="ompl"/>
</include>
<!-- Launch rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" />
</launch>