noetic-devel fixups

config/hand.xacro

@@ -23,7 +23,6 @@
         <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
         <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
         <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
-        <passive_joint name="panda_finger_joint2"/>
         <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
         <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
         <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>

config/simple_moveit_controllers.yaml

@@ -1,5 +1,5 @@
 controller_list:
-  - name: position_joint_trajectory_controller
+  - name: joint_trajectory_controller
     action_ns: follow_joint_trajectory
     type: FollowJointTrajectory
     default: true

launch/franka_control.launch

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Launch real-robot control -->
+  <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" />
+
+  <!-- Load joint-trajectory controller into ROS controller_manager -->
+  <node name="trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_trajectory_controller" />
+
+  <!-- as well as MoveIt demo -->
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
+         as well as GripperCommand actions -->
+    <arg name="moveit_controller_manager" value="simple" />
+  </include>
+</launch>

launch/franka_gazebo.launch

@@ -1,54 +1,27 @@
 <launch>
-
   <!-- specify the planning pipeline -->
   <arg name="pipeline" default="ompl" />
 
-  <!-- By default, we do not start a database (it can be large) -->
-  <arg name="db" default="false" />
-  <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
-
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
-
-  <!-- By default we will load the gripper -->
+  <!-- Panda specific options -->
   <arg name="load_gripper" default="true" />
+  <arg name="transmission" default="effort" />
 
   <!-- Gazebo specific options -->
-  <arg name="gazebo_gui" default="true"/>
-  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true" />
+  <arg name="paused" default="false" />
 
-  <!-- launch the gazebo simulator and spawn the robot -->
-  <include file="$(find franka_gazebo)/launch/panda.launch">
+  <!-- Launch the gazebo simulator and spawn the robot -->
+  <include file="$(find franka_gazebo)/launch/panda.launch" pass_all_args="true">
     <arg name="headless" value="$(eval not arg('gazebo_gui'))" />
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="use_gripper" default="$(arg load_gripper)"/>
-    <arg name="transmission" value="hardware_interface/PositionJointInterface"/>
+    <arg name="use_gripper" default="$(arg load_gripper)" />
+    <arg name="controller" default="joint_trajectory_controller" />
   </include>
 
-  <group ns="panda">
-    <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-    <include file="$(dirname)/move_group.launch">
-      <arg name="allow_trajectory_execution" value="true" />
-      <arg name="moveit_controller_manager" value="ros_control" />
-      <arg name="info" value="true" />
-      <arg name="debug" value="$(arg debug)" />
-      <arg name="pipeline" value="$(arg pipeline)" />
-      <arg name="load_gripper" value="$(arg load_gripper)" />
-      <!-- robot description is loaded by franka_gazebo/panda.launch, to enable Gazebo features -->
-      <arg name="load_robot_description" value="false" />
-    </include>
-
-    <!-- Run Rviz and load the default config to see the state of the move_group node -->
-    <include file="$(dirname)/moveit_rviz.launch">
-      <arg name="rviz_config" value="$(dirname)/moveit.rviz" />
-      <arg name="debug" value="$(arg debug)" />
-    </include>
-  </group>
-
-  <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
-    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
+         as well as GripperCommand actions -->
+    <arg name="moveit_controller_manager" value="simple" />
   </include>
-
 </launch>