test_ik.launch

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<?xml version="1.0"?>
<launch>
  <!-- Debug Info -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
  <arg name="planning_plugin" default="ompl_interface/OMPLPlanner" />
  <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints" />
  <arg name="robot_interface_plugin" default="velma_planner::VelmaRosPlugin"/>

<!--  <rosparam command="load" ns="/velma_core_cs/wcc_l" file="$(find velma_common)/config/wcc_l.yaml" />
  <rosparam command="load" ns="/velma_core_cs/wcc_r" file="$(find velma_common)/config/wcc_r.yaml" />
  <rosparam command="load" ns="/velma_core_cs" file="$(find velma_common)/config/joint_limits_cimp.yaml" />
-->
  <rosparam command="load" ns="VelmaRosPlugin/wcc_l" file="$(find velma_common)/config/wcc_l.yaml" />
  <rosparam command="load" ns="VelmaRosPlugin/wcc_r" file="$(find velma_common)/config/wcc_r.yaml" />
  <rosparam command="load" ns="velma_core_cs/wcc_l" file="$(find velma_common)/config/wcc_l.yaml" />
  <rosparam command="load" ns="velma_core_cs/wcc_r" file="$(find velma_common)/config/wcc_r.yaml" />
  <rosparam command="load" ns="/velma_core_cs" file="$(find velma_common)/config/joint_limits_cimp.yaml" />
  <param name="/robot_interface_plugin" value="$(arg robot_interface_plugin)" />

  <node name="test_ik" pkg="velma_kinematics" type="test_ik" respawn="false" launch-prefix="$(arg launch_prefix)" output="screen" >
    <param name="planning_plugin" value="$(arg planning_plugin)" />
    <param name="request_adapters" value="$(arg planning_adapters)"/>
    <param name="start_state_max_bounds_error" value="0.1" />
    <param name="max_sampling_attempts" value="1000" />
    <param name="robot_interface_plugin" value="$(arg robot_interface_plugin)" />
    <rosparam command="load" file="$(find rcprg_planner)/config/ompl_planning.yaml"/>
  </node>
</launch>