velma_planner.launch

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<?xml version="1.0"?>
<launch>
  <!-- Debug Info -->
  <arg name="debug" default="false" />
  <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" />

  <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" />

  <include file="$(find rcprg_planner)/launch/rcprg_planner.launch" >
    <arg name="debug" value="$(arg debug)" />
    <arg name="planning_plugin" value="$(arg planning_plugin)" />
    <arg name="planning_adapters" value="$(arg planning_adapters)" />
    <arg name="robot_interface_plugin" value="velma_planner::VelmaRosPlugin" />
    <arg name="use_self_collisions_model" value="false" />
  </include>

</launch>