Skip to content
This repository has been archived by the owner on Nov 22, 2023. It is now read-only.

pass rviz config file path as launch argument #84

Closed
wants to merge 1 commit into from
Closed

pass rviz config file path as launch argument #84

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
21 changes: 17 additions & 4 deletions prbt_moveit_config/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
<launch>

<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />

<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
Expand All @@ -8,6 +11,16 @@
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />

<!--
By default, hide joint_state_publisher's GUI

MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find prbt_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
Expand All @@ -18,14 +31,14 @@

<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>

<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find prbt_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
Expand All @@ -36,7 +49,7 @@

<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find prbt_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="rviz_config" value="$(find prbt_moveit_config)/launch/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>

Expand Down
7 changes: 4 additions & 3 deletions prbt_moveit_config/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,8 +39,9 @@ limitations under the License.
<!-- Load robot description to parameter server. Can be set to false to let someone else load the model -->
<arg name="load_robot_description" default="true" />

<!-- Start RViz with default configuration settings. Set this to false once you have changed the configuration and have saved it as default. -->
<arg name="rviz_default" default="true" />
<!-- Start RViz with default configuration settings. Once you have changed the configuration and have saved
it inside your package folder, set the path and file name here. -->
<arg name="rviz_config" default="$(find prbt_moveit_config)/launch/moveit.rviz" />

<!-- configuration for moveit -->
<arg name="pipeline" default="ompl" /><!-- Choose planning pipeline -->
Expand Down Expand Up @@ -86,7 +87,7 @@ limitations under the License.
</include>

<include file="$(find prbt_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="$(arg rviz_default)"/>
<arg name="rviz_config" value="$(arg rviz_config)"/>
</include>

</launch>
8 changes: 4 additions & 4 deletions prbt_moveit_config/launch/moveit_rviz.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,10 @@
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

<arg name="config" default="false" />
<arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find prbt_moveit_config)/launch/moveit.rviz" />
<arg name="rviz_config" default="" />
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />

<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find prbt_moveit_config)/config/kinematics.yaml"/>
Expand Down