Add TrajOpt launch files to panda_moveit_config #29
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davetcoleman
requested changes
May 24, 2019
ommmid
changed the title
added 10 commits
August 2, 2019 10:34
…is an empty file. Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file
removed extra planner arg in demo.launch
ommmid
changed the title
davetcoleman
reviewed
Aug 5, 2019
config/panda_arm.xacro
Outdated
| @@ -21,7 +21,7 @@ | |||
| </group_state> | |||
| <!--END EFFECTOR: Purpose: Represent information about an end effector.--> | |||
| <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> | |||
| <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" /> | |||
| <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0" /> | |||
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why are you changing this? floating is used for things like rviz_visual_tools hiding
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Got it. We can leave it as fixed. It will make "hiding" a robot hard, but I've created a PR and some issues to track this needed fix in the future: moveit/moveit_msgs#55
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Added the necessary launch files so we can run panda_moveit_config package with TrajOpt planner (empty template). Also added an empty yaml file for trajopt.
Furthermore, applied the necessary changes so that all the planners can be passed to demo.launch with an arg called planner. In this way, we do not need to make extra demo and move_group for each new planner.
We can just pass the name: demo.launch planner:=trajopt
@davetcoleman , please review this PR. Thanks.