30 lines
1.2 KiB
XML
30 lines
1.2 KiB
XML
<?xml version="1.0" ?>
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<launch>
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<arg name="sim" />
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<arg name="launch_rviz" default="true" />
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<!-- Load parameters -->
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<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
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<!-- Launch MoveIt -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0 world panda_link0" />
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<include file="$(find panda_moveit_config)/launch/move_group.launch">
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<arg name="transmission" value="position" />
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</include>
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<!-- Simulated environment -->
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<group if="$(arg sim)">
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<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
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<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
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</group>
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<!-- Real environment -->
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<group unless="$(arg sim)">
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<node pkg="active_grasp" type="hw_node.py" name="hw" output="screen" />
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</group>
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<!-- Launch rviz -->
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<node if="$(arg launch_rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/cfg/active_grasp.rviz" />
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</launch>
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