move moveit in fetch.launch

jsk-ros-pkg · Jun 23, 2023 · 94b7a5d · 94b7a5d
1 parent f3ca4d8
commit 94b7a5d
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Showing 2 changed files with 11 additions and 10 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -1,6 +1,8 @@
 <launch>
   <!-- add arg launch_teleop: yamaguchi & s-kitagawa (2019/04/19) -->
   <arg name="launch_teleop" default="true" />
+  <arg name="launch_moveit" default="true" />
+
   <arg name="use_base_camera_mount" default="true" />
   <arg name="use_head_box" default="true" />
   <arg name="launch_diagnostics_agg" default="false" />
@@ -180,6 +182,15 @@
     <arg name="flags" value="-a -b -g -t"/>
   </include>
 
+  <!-- include fetch moveit -->
+  <group if="$(arg launch_moveit)">
+    <include file="$(find fetch_moveit_config)/launch/move_group.launch" />
+    <!-- overwrite fetch.srdf -->
+    <!-- The semantic description that corresponds to the URDF -->
+    <param name="robot_description_semantic"
+	   command="rosrun xacro xacro --inorder $(find jsk_fetch_startup)/launch/moveit/fetch.srdf.xacro" />
+  </group>
+
   <!-- Diagnostics Aggregator -->
   <include if="$(arg launch_diagnostics_agg)"
            file="$(find fetch_bringup)/launch/include/aggregator.launch.xml"/>

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -1,6 +1,5 @@
 <launch>
   <arg name="hostname" default="fetch15" />
-  <arg name="launch_moveit" default="true" />
   <arg name="launch_teleop" default="true" />
   <arg name="launch_move_base" default="true" />
   <arg name="launch_sound_play" default="true" />
@@ -116,15 +115,6 @@
     <arg name="launch_manager" value="false"/>
   </include>
 
-  <!-- include fetch moveit -->
-  <group if="$(arg launch_moveit)">
-    <include file="$(find fetch_moveit_config)/launch/move_group.launch" />
-    <!-- overwrite fetch.srdf -->
-    <!-- The semantic description that corresponds to the URDF -->
-    <param name="robot_description_semantic"
-           command="rosrun xacro xacro --inorder $(find jsk_fetch_startup)/launch/moveit/fetch.srdf.xacro" />
-  </group>
-
   <!-- teleop -->
   <include file="$(find jsk_fetch_startup)/launch/fetch_teleop.xml"
            if="$(arg launch_teleop)" >