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update README and update launch files

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This commit is contained in:
Ilya Uraev 2023-07-24 16:06:39 +03:00
parent 5314c1adf5
commit 6fa469be36
5 changed files with 11 additions and 10 deletions
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4
rbs_bringup/launch/bringup.launch.py
View file

@ -161,10 +161,10 @@ def generate_launch_description():
DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
)
declared_arguments.append(
DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_sim", default_value="false", description="Launch simulation?")
DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulation?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?")

3
rbs_bringup/launch/moveit.launch.py
View file

@ -192,6 +192,7 @@ def generate_launch_description():
move_topose_action_server,
gripper_control_node,
move_cartesian_path_action_server,
move_joint_state_action_server
move_joint_state_action_server,
moveit_planning_scene_init
]
return LaunchDescription(declared_arguments + nodes_to_start)

2
rbs_bringup/launch/simulation.launch.py
View file

@ -53,7 +53,7 @@ def generate_launch_description():
condition=IfCondition(sim_gazebo))
env_manager = Node(package="env_manager",
executable="main",
executable="env_manager_node",
condition=IfCondition(env_manager_cond)
)