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demo_planning_execution.launch

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Oct 2nd, 2017
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  1. <launch>
  2.    
  3.     <rosparam command="load" file="$(find kuka_kr3_moveit)/config/joint_names.yaml"/>
  4.    
  5.     <include file="$(find kuka_kr3_moveit)/launch/planning_context.launch">
  6.         <arg name="load_robot_description" value="true"/>
  7.     </include>
  8.    
  9.     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
  10.         <param name="/use_gui" value="false"/>
  11.         <rosparam param="/source_list">[/kuka_kr3/joint_states]</rosparam>
  12.     </node>
  13.    
  14.     <include file="$(find kuka_kr3_moveit)/launch/move_group.launch">
  15.         <arg name="publish_monitored_planning_scene" value="true" />
  16.     </include>
  17.    
  18.     <include file="$(find kuka_kr3_moveit)/launch/moveit_rviz.launch">
  19.         <arg name="config" value="true"/>
  20.     </include>
  21.    
  22. </launch>
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