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♻️ update to moveit2 ros2 actions bt

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This commit is contained in:
Ilya Uraev 2022-02-10 23:15:37 +04:00
parent 7b73c48f03
commit 54da56c7ae
18 changed files with 305 additions and 742 deletions
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21
rasmt_moveit_config/launch/rasmt_moveit.launch.py
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@ -159,7 +159,25 @@ def generate_launch_description():
move_topose_action_server = Node(
package="robossembler_servers",
executable="move_topose_action_server",
name="m2p_as",
name="move_to_pose_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_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,
@ -178,6 +196,7 @@ def generate_launch_description():
launch_nodes.append(rviz)
launch_nodes.append(move_group_node)
launch_nodes.append(move_topose_action_server)
launch_nodes.append(move_to_joint_state_action_server)