Merge remote-tracking branch 'origin/main' into 73-simplify-launch

2023-07-31 10:32:48 +03:00 · 2023-07-31 10:32:48 +03:00 · 0bcfa40750
commit 0bcfa40750
parent 99452210b8 da4e674772
1 changed files with 10 additions and 0 deletions
--- a/rbs_simulation/launch/rbs_simulation.launch.py
+++ b/rbs_simulation/launch/rbs_simulation.launch.py
@ -485,6 +485,16 @@ def generate_launch_description():
        ]
    )

+    moveit_planning_scene_init = Node(
+        package="rbs_skill_servers",
+        executable="moveit_update_planning_scene_service_server",
+        output="screen",
+        parameters=[
+            {'init_scene': world_config_file},
+            {'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
+        ]
+    )
+    
    # add_planning_scene_object = Node(
    #     package="rbs_skill_servers",
    #     executable="add_planning_scene_object_service",