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🔨 add move_group cpp interface that's work

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This commit is contained in:
Ilya Uraev 2021-11-09 14:45:17 +04:00
parent b1ae818aa0
commit 4fe0324b25
10 changed files with 1135 additions and 60 deletions
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8
rasms_moveit_config/launch/rasms_moveit_interface.launch.py
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@ -70,8 +70,8 @@ def generate_launch_description():
kinematics_yaml = load_yaml("rasms_moveit_config", "config/kinematics.yml")
# Update group name
kinematics_yaml["rasms_description_arm"] = kinematics_yaml["group_name"]
del kinematics_yaml["group_name"]
#kinematics_yaml["rasms_arm_group"] = kinematics_yaml["group_name"]
#del kinematics_yaml["group_name"]
# Joint limits
robot_description_planning = {
@ -185,8 +185,8 @@ def generate_launch_description():
launch_nodes = []
launch_nodes.append(rviz)
#launch_nodes.append(move_group_node)
launch_nodes.append(moveit_cpp_node)
launch_nodes.append(move_group_node)
#launch_nodes.append(moveit_cpp_node)
return LaunchDescription(