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improved iisy_config module

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This commit is contained in:
Bastian Hofmann
2022-03-18 09:16:59 +01:00
parent 16816db994
commit 0403aba97b
55 changed files with 1203 additions and 608 deletions
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src/gaz_simulation/launch/.moveit_launch.py.kate-swp
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src/gaz_simulation/launch/moveit_launch.py
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@@ -4,7 +4,7 @@ from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import Command
from launch.substitutions import Command, LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
@@ -118,18 +118,15 @@ def generate_launch_description():
output='screen'
),
Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-entity', robot_name,
'-topic', 'robot_description',
'-x', '-1',
'-y', '-1',
'-z', '1',
'-Y', '0'], # Yaw
output='screen'
),
#Node(
# package="gazebo_ros",
# executable="spawn_entity.py",
# arguments=[
# "-topic", "robot_description",
# "-entity", LaunchConfiguration("iisy")
# ],
# output="screen"
#),
#Node(
# package='robot_state_publisher',
@@ -159,21 +156,30 @@ def generate_launch_description():
# arguments=["test.xml"]
# )
Node(
package='controller_manager',
name='gazebo_controller_spawner',
executable='spawner',
output='screen',
parameters=[
controllers_yaml,
]
),
#Node(package='moveit_ros_move_group',
# executable='move_group',
# #prefix='xterm -fs 10 -e gdb --ex run --args',
# output='screen',
# parameters=[
# robot_description,
# robot_description_semantic,
# kinematics_yaml,
# ompl_planning_pipeline_config,
# trajectory_execution,
# moveit_controllers,
# planning_scene_monitor_parameters,
# #octomap_config,
# #octomap_updater_config
# ]
#)
Node(package='moveit_ros_move_group',
executable='move_group',
#prefix='xterm -fs 10 -e gdb --ex run --args',
output='screen',
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
#octomap_config,
#octomap_updater_config
]
),
])