14 lines
629 B
XML
14 lines
629 B
XML
<?xml version="1.0" ?>
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<launch>
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<arg name="launch_rviz" default="false" />
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<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
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<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/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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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
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</launch>
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