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Load scene config

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This commit is contained in:
Michel Breyer
2021-12-03 13:52:07 +01:00
parent e7aa81fed3
commit d8ea9683db
5 changed files with 41 additions and 15 deletions
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6
launch/env.launch
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@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<launch>
<arg name="simulation" default="true" />
<arg name="sim" default="true" />
<arg name="launch_rviz" default="false" />
<!-- Load parameters -->
@@ -11,14 +11,14 @@
<include file="$(find panda_moveit_config)/launch/move_group.launch" />
<!-- Simulated environment -->
<group if="$(arg simulation)">
<group if="$(arg sim)">
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
</group>
<!-- Real environment -->
<group unless="$(arg simulation)">
<group unless="$(arg sim)">
<node pkg="active_grasp" type="hw_node.py" name="hw" output="screen" />
</group>