move_group.launch.py 示例

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于 2025-01-07 16:55:17 发布 · 713 阅读

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#机器人 #人工智能 #c++ #算法

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():
    # 获取 MoveIt 配置包的路径
    moveit_config_package = "fairino3_v6_left_arm"
    moveit_config_directory = get_package_share_directory(moveit_config_package)
    moveit_config = os.path.join(moveit_config_directory, "config")

# 定义启动参数
use_sim_time = LaunchConfiguration("use_sim_time", default="false")

# 定义 MoveIt move_group 节点的参数文件路径
move_group_params = os.path.join(moveit_config, "move_group_params