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Seperate moveit and rviz. #9

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Seperate moveit and rviz. #9

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15 changes: 10 additions & 5 deletions rcdt_franka/launch/franka.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,16 +68,21 @@ def launch_setup(context: LaunchContext) -> None:
}.items(),
)

rviz_display_config = get_file_path("rcdt_utilities", ["rviz"], "markers.rviz")
rviz = IncludeLaunchDescription(
get_file_path("rcdt_utilities", ["launch"], "rviz.launch.py"),
launch_arguments={"rviz_display_config": rviz_display_config}.items(),
launch_arguments={
"moveit": moveit_mode,
"moveit_package_name": "rcdt_franka_moveit_config",
}.items(),
)
load_rviz = (use_rviz or not use_sim) and moveit_mode != "rviz"

moveit = IncludeLaunchDescription(
get_file_path("rcdt_utilities", ["launch"], "moveit.launch.py"),
launch_arguments={"moveit_config_package": "rcdt_franka_moveit_config"}.items(),
launch_arguments={
"simulation": str(use_sim),
"moveit": moveit_mode,
"moveit_package_name": "rcdt_franka_moveit_config",
}.items(),
)

joy = Node(
Expand Down Expand Up @@ -118,7 +123,7 @@ def launch_setup(context: LaunchContext) -> None:
static_transform_publisher,
joint_state_broadcaster,
controllers,
rviz if load_rviz else skip,
rviz if use_rviz else skip,
moveit if moveit_mode != "off" else skip,
joy,
joy_topic_manager if moveit_mode == "servo" else skip,
Expand Down