48 """Launch file for rviz"""
49 ld = LaunchDescription()
53 DeclareLaunchArgument(
55 default_value=str(moveit_config.package_path /
"config/moveit.rviz"),
60 moveit_config.planning_pipelines,
61 moveit_config.robot_description_kinematics,
70 arguments=[
"-d", LaunchConfiguration(
"rviz_config")],
71 parameters=rviz_parameters,
136 """Launch file for warehouse database"""
137 ld = LaunchDescription()
139 DeclareLaunchArgument(
140 "moveit_warehouse_database_path",
142 moveit_config.package_path /
"default_warehouse_mongo_db"
149 ld.add_action(DeclareLaunchArgument(
"moveit_warehouse_port", default_value=
"33829"))
153 DeclareLaunchArgument(
"moveit_warehouse_host", default_value=
"localhost")
160 "database_path": LaunchConfiguration(
"moveit_warehouse_database_path"),
161 "warehouse_port": LaunchConfiguration(
"moveit_warehouse_port"),
162 "warehouse_host": LaunchConfiguration(
"moveit_warehouse_host"),
163 "warehouse_exec":
"mongod",
164 "warehouse_plugin":
"warehouse_ros_mongo::MongoDatabaseConnection",
169 package=
"warehouse_ros_mongo",
170 executable=
"mongo_wrapper_ros.py",
173 parameters=db_parameters,
175 ld.add_action(db_node)
179 package=
"moveit_ros_warehouse",
180 executable=
"moveit_init_demo_warehouse",
182 condition=IfCondition(LaunchConfiguration(
"reset")),
184 ld.add_action(reset_node)
190 ld = LaunchDescription()
201 DeclareLaunchArgument(
203 default_value=moveit_config.move_group_capabilities[
"capabilities"],
207 ld.add_action(DeclareLaunchArgument(
"disable_capabilities", default_value=
""))
213 should_publish = LaunchConfiguration(
"publish_monitored_planning_scene")
215 move_group_configuration = {
216 "publish_robot_description_semantic":
True,
217 "allow_trajectory_execution": LaunchConfiguration(
"allow_trajectory_execution"),
219 "capabilities": ParameterValue(
220 LaunchConfiguration(
"capabilities"), value_type=str
222 "disable_capabilities": ParameterValue(
223 LaunchConfiguration(
"disable_capabilities"), value_type=str
226 "publish_planning_scene": should_publish,
227 "publish_geometry_updates": should_publish,
228 "publish_state_updates": should_publish,
229 "publish_transforms_updates": should_publish,
230 "monitor_dynamics":
False,
233 move_group_params = [
234 moveit_config.to_dict(),
235 move_group_configuration,
240 package=
"moveit_ros_move_group",
241 executable=
"move_group",
242 commands_file=str(moveit_config.package_path /
"launch" /
"gdb_settings.gdb"),
244 parameters=move_group_params,
245 extra_debug_args=[
"--debug"],
247 additional_env={
"DISPLAY": os.environ[
"DISPLAY"]},
254 Launches a self contained demo
256 launch_package_path is optional to use different launch and config packages
259 * static_virtual_joint_tfs
260 * robot_state_publisher
263 * warehouse_db (optional)
264 * ros2_control_node + controller spawners
266 if launch_package_path ==
None:
267 launch_package_path = moveit_config.package_path
269 ld = LaunchDescription()
274 description=
"By default, we do not start a database (it can be large)",
281 description=
"By default, we are not in debug mode",
286 virtual_joints_launch = (
287 launch_package_path /
"launch/static_virtual_joint_tfs.launch.py"
290 if virtual_joints_launch.exists():
292 IncludeLaunchDescription(
293 PythonLaunchDescriptionSource(str(virtual_joints_launch)),
299 IncludeLaunchDescription(
300 PythonLaunchDescriptionSource(
301 str(launch_package_path /
"launch/rsp.launch.py")
307 IncludeLaunchDescription(
308 PythonLaunchDescriptionSource(
309 str(launch_package_path /
"launch/move_group.launch.py")
316 IncludeLaunchDescription(
317 PythonLaunchDescriptionSource(
318 str(launch_package_path /
"launch/moveit_rviz.launch.py")
320 condition=IfCondition(LaunchConfiguration(
"use_rviz")),
326 IncludeLaunchDescription(
327 PythonLaunchDescriptionSource(
328 str(launch_package_path /
"launch/warehouse_db.launch.py")
330 condition=IfCondition(LaunchConfiguration(
"db")),
337 package=
"controller_manager",
338 executable=
"ros2_control_node",
340 str(moveit_config.package_path /
"config/ros2_controllers.yaml"),
343 (
"/controller_manager/robot_description",
"/robot_description"),
349 IncludeLaunchDescription(
350 PythonLaunchDescriptionSource(
351 str(launch_package_path /
"launch/spawn_controllers.launch.py")