v0.1

rbs_simulation/launch/rbs_simulation.launch.py

@@ -434,6 +434,16 @@ def generate_launch_description():
             {'assemble_dir': '/home/splinter1984/tmp_ws/src/robossembler-ros2/rbs_task_planner/example/sdf_models/'}
         ]
     )
+
+    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",
@@ -463,6 +473,7 @@ def generate_launch_description():
         move_joint_state_action_server,
         grasp_pose_loader,
         assemble_state,
+        moveit_planning_scene_init,
         #add_planning_scene_object
     ]