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add cartesian path planner

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This commit is contained in:
Ilya Uraev 2022-03-16 00:50:12 +04:00
parent ddba530489
commit 387e4ca428
8 changed files with 244 additions and 31 deletions
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35
rasmt_moveit_config/launch/rasmt_moveit.launch.py
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@ -174,28 +174,29 @@ def generate_launch_description():
]
)
# move_to_joint_state_action_server = Node(
# package="robossembler_servers",
# executable="move_to_joint_states_action_server",
# name="joint_states_moveit",
# parameters=[
# robot_description,
# robot_description_semantic,
# kinematics_yaml,
# robot_description_planning,
# ompl_yaml,
# planning,
# trajectory_execution,
# moveit_controllers,
# planning_scene_monitor_parameters,
# use_sim_time
# ]
# )
move_cartesian_path_action_server = Node(
package="robossembler_servers",
executable="move_cartesian_path_action_server",
name="move_cartesian_path_action_server",
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
robot_description_planning,
ompl_yaml,
planning,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
use_sim_time
]
)
launch_nodes = []
launch_nodes.append(rviz)
launch_nodes.append(move_group_node)
launch_nodes.append(move_topose_action_server)
launch_nodes.append(move_cartesian_path_action_server)
# launch_nodes.append(move_to_joint_state_action_server)