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➕ add test MoveitCpp node

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This commit is contained in:
Ilya Uraev 2021-11-03 15:18:12 +04:00
parent b2a89ecbde
commit 554a33fc43
15 changed files with 653 additions and 430 deletions
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9
rasms_moveit_config/launch/rasms_bringup.launch.py
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@ -34,7 +34,6 @@ def launch_setup(context, *args, **kwargs):
("robot_description", robot_description_content),
("controller_configurations_package", LaunchConfiguration("controller_configurations_package")),
("controller_configurations", LaunchConfiguration("controller_configurations")),
("controller", LaunchConfiguration("controller")),
("sim", LaunchConfiguration("sim"))
]
)
@ -118,14 +117,6 @@ def generate_launch_description():
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller",
default_value="position_trajectory_controller",
description="Robot controller."
)
)
launch_args.append(
DeclareLaunchArgument(
name="moveit_controller_configurations_package",