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Config sensor manager #10

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Config sensor manager #10

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16 changes: 15 additions & 1 deletion stretch_moveit_config/launch/demo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down Expand Up @@ -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
Comment on lines +118 to +121

@JafarAbdi JafarAbdi Mar 19, 2021

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Currently we don't use these values

@DLu DLu Apr 28, 2021

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@JafarAbdi What should these values be?

}
}}

# Start the actual move_group node/action server
run_move_group_node = Node(package='moveit_ros_move_group',
executable='move_group',
Expand All @@ -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
Expand Down