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Cleanup

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This commit is contained in:
Michel Breyer
2021-07-06 14:00:04 +02:00
parent 12ae207b5b
commit 9a03a26172
10 changed files with 445 additions and 423 deletions
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19
launch/simulation.launch
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<?xml version="1.0" ?>
<launch>
<!-- Arguments -->
<arg name="launch_rviz" default="true" />
<!-- Load parameters. -->
<rosparam command="load" file="$(find active_grasp)/config/active_grasp.yaml" subst_value="true" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/panda_arm_hand.urdf.xacro" />
<!-- Bringup the robot -->
<node pkg="active_grasp" type="bt_sim_node.py" name="simulation" args="--gui" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
<!-- Launch MoveIt -->
<!-- <include file="$(find panda_moveit_config)/launch/move_group.launch" /> -->
<!-- Visualize the robot. -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" if="$(arg launch_rviz)" />
</launch>