From 1aa79fba363bc7de9b28594374d0487dc323195a Mon Sep 17 00:00:00 2001
From: Shaun Edwards <shaun.edwards@gmail.com>
Date: Tue, 28 May 2013 12:36:19 -0500
Subject: [PATCH] Added config files missed on last commit

---
 ur5_moveit_config/config/controllers.yaml     | 12 +++++
 ur5_moveit_config/config/joint_names.yaml     |  1 +
 .../launch/moveit_planning_execution.launch   | 46 +++++++++++++++++++
 3 files changed, 59 insertions(+)
 create mode 100644 ur5_moveit_config/config/controllers.yaml
 create mode 100644 ur5_moveit_config/config/joint_names.yaml
 create mode 100644 ur5_moveit_config/launch/moveit_planning_execution.launch

diff --git a/ur5_moveit_config/config/controllers.yaml b/ur5_moveit_config/config/controllers.yaml
new file mode 100644
index 0000000..54fc1ed
--- /dev/null
+++ b/ur5_moveit_config/config/controllers.yaml
@@ -0,0 +1,12 @@
+controller_manager_ns: pr2_controller_manager
+controller_list:
+  - name: ""
+    ns: joint_trajectory_action
+    default: true
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
diff --git a/ur5_moveit_config/config/joint_names.yaml b/ur5_moveit_config/config/joint_names.yaml
new file mode 100644
index 0000000..c2e7cc2
--- /dev/null
+++ b/ur5_moveit_config/config/joint_names.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
diff --git a/ur5_moveit_config/launch/moveit_planning_execution.launch b/ur5_moveit_config/launch/moveit_planning_execution.launch
new file mode 100644
index 0000000..aa26da1
--- /dev/null
+++ b/ur5_moveit_config/launch/moveit_planning_execution.launch
@@ -0,0 +1,46 @@
+<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>
-- 
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