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<launch>
<!-- The planning and execution components of MoveIt! configured to run -->
<!-- using the ROS-Industrial interface. -->
<!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
<!-- - if sim=false, a robot_ip argument is required -->
<arg name="sim" default="true" />
<arg name="robot_ip" unless="$(arg sim)" />
<!-- load robot specific joint names (in order expected by controller) -->
<rosparam command="load" file="$(find ur5_moveit_config)/config/joint_names.yaml"/>
<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find ur5_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<!-- run the robot simulator and action interface nodes -->
<group if="$(arg sim)">
<include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
</group>
<!-- run the "real robot" interface nodes -->
<!-- - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
<!-- - replace these calls with appropriate robot-specific calls or launch files -->
<group unless="$(arg sim)">
<!-- UR driver consists of a single node - does not currrently follow ROS-I convention -->
<node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip)" >
<remap from="follow_joint_trajectory/" to="joint_trajectory_action/"/>
</node>
</group>
<!-- publish the robot state (tf transforms) -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<include file="$(find ur5_moveit_config)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
</include>
<include file="$(find ur5_moveit_config)/launch/default_warehouse_db.launch" />
</launch>