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Add an option overriding URDF to launch #152

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Add an option overriding URDF to launch real robot
Tiryoh Mar 4, 2022
302314d
Merge branch 'master' into feature/add-load-description-option-for-re…
Tiryoh Apr 4, 2022
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3 changes: 2 additions & 1 deletion crane_x7_control/launch/crane_x7_control.launch
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Original file line number Diff line number Diff line change
@@ -1,8 +1,9 @@
<launch>
<!-- USB port name for dynamixel_port -->
<arg name="port" default="/dev/ttyUSB0" />
<arg name="load_robot_description" default="true" />

<param name="robot_description"
<param if="$(arg load_robot_description)" name="robot_description"
command="$(find xacro)/xacro --inorder '$(find crane_x7_description)/urdf/crane_x7.urdf.xacro'"
/>
<group ns="crane_x7">
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1 change: 1 addition & 0 deletions crane_x7_moveit_config/launch/demo.launch
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Expand Up @@ -57,6 +57,7 @@
<arg name="debug" value="$(arg debug)"/>
<arg name="port" value="$(arg port)" />
<arg name="use_gazebo" value="$(arg use_gazebo)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>

<!-- Run Rviz and load the default config to see the state of the move_group node -->
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4 changes: 4 additions & 0 deletions crane_x7_moveit_config/launch/move_group.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
<launch>

<arg name="use_gazebo" default="false" />
<!-- By default the URDF is loaded in crane_x7_control if fake_control==false. -->
<!-- Change the following to false to change the default behavior. -->
<arg name="load_robot_description" default="true"/>

<include file="$(find crane_x7_moveit_config)/launch/planning_context.launch" />

Expand Down Expand Up @@ -43,6 +46,7 @@
<!-- If fake==false, launch X7 controller -->
<include file="$(find crane_x7_control)/launch/crane_x7_control.launch" unless="$(arg fake_execution)">
<arg name="port" value="$(arg port)" />
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
</group>

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