Pick and place MVP w/o CV

rbs_mill_assist/launch/simulation.launch.py

@@ -165,12 +165,18 @@ def launch_setup(context, *args, **kwargs):
         config_file=os.path.join(description_package_abs_path, "config", "gz_bridge.yaml")
     )
 
+    grasping_service = Node(
+        package="rbs_mill_assist",
+        executable="grasping_service.py"
+    )
+
     nodes_to_start = [
         rbs_robot_setup,
         rviz_node,
         gazebo,
         gazebo_spawn_robot,
-        gz_bridge
+        gz_bridge,
+        grasping_service
     ]
     return nodes_to_start
 
@@ -272,7 +278,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "ee_link_name",
-            default_value="Link6",
+            default_value="grasp_point",
             description="End effector name of robot arm",
         )
     )
@@ -302,7 +308,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "interactive",
-            default_value="true",
+            default_value="false",
             description="Wheter to run the motion_control_handle controller",
         ),
     )