From 21d4639928afbf02079b7618afe01dae3cf77ff5 Mon Sep 17 00:00:00 2001 From: JafarAbdi Date: Fri, 19 Mar 2021 12:51:22 +0000 Subject: [PATCH] Configure stretch sensor manager --- stretch_moveit_config/launch/demo.launch.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/stretch_moveit_config/launch/demo.launch.py b/stretch_moveit_config/launch/demo.launch.py index 63c3c360..6924a51c 100644 --- a/stretch_moveit_config/launch/demo.launch.py +++ b/stretch_moveit_config/launch/demo.launch.py @@ -7,6 +7,7 @@ import xacro import argparse import sys +from math import pi def load_file(package_name, file_path): package_path = get_package_share_directory(package_name) @@ -109,6 +110,18 @@ def generate_launch_description(): "publish_state_updates": True, "publish_transforms_updates": True} + stretch_sensor_manager = {'moveit_sensor_manager': 'stretch_sensor_manager/StretchSensorManager', + 'stretch_sensor_manager': { + 'sensor_name': 'head', + 'head': { + 'planning_group': 'stretch_head', + 'min_dist': 0.0, + 'max_dist': 10.0, + 'x_angle': 2 * pi, + 'y_angle': 2 * pi + } + }} + # Start the actual move_group node/action server run_move_group_node = Node(package='moveit_ros_move_group', executable='move_group', @@ -120,7 +133,8 @@ def generate_launch_description(): ompl_planning_pipeline_config, trajectory_execution, moveit_controllers, - planning_scene_monitor_parameters]) + planning_scene_monitor_parameters, + stretch_sensor_manager]) ld.add_action(run_move_group_node) # RViz