j2s6s300_demo.launch

<launch>
  <param name="robot_type" value="j2s6s300" />
  <param name="/pick_place_demo/arm/solve_type" value="Manipulation2" />
  <param name="/pick_place_demo/arm/kinematics_solver_timeout" value="0.05" />

  <!-- 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 j2s6s300_moveit_config)/default_warehouse_mongo_db" />

  <!-- By default, we are not in debug mode -->
  <arg name="debug" default="false" />

  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
  <include file="$(find j2s6s300_moveit_config)/launch/planning_context.launch">
    <arg name="load_robot_description" value="true"/>
  </include>

  <!-- If needed, broadcast static tf for robot root -->
  
  <!-- Run joint trajectory action server, which receives planned motion goal under "follow_joint_trajectory", and publish ROS standard trajectory via topic "command". Then for specified robot, the trajectory will be interpreted to their own joint trajectory controller -->
  <node name="j2s6s300_joint_trajectory_action_server" pkg="kinova_driver" type="joint_trajectory_action_server" output="screen" respawn="false" args="j2s6s300"/>

  <!-- Run gripper command action server, which receives planned motion goal under "gripper_command". After receiving the command from Moveit Rviz Plugin, this node act as an actionlib client and send the goal to the finger position action server from kinova_driver.  -->
  <node name="j2s6s300_gripper_command_action_server" pkg="kinova_driver" type="gripper_command_action_server" output="screen" respawn="false" args="j2s6s300"/>


  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
  <include file="$(find j2s6s300_moveit_config)/launch/move_group_j2s6s300.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="fake_execution" value="false"/>
    <arg name="info" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="joint_states_ns" value="/j2s6s300_driver/out/joint_state"/> 
    <arg name="controller_manager" value="j2s6s300"/> 
  </include>

  <!-- kinova-driver Controller parameters-->   
  <rosparam file="$(find j2s6s300_moveit_config)/config/controllers.yaml"/>

  <!-- Run Rviz and load the default config to see the state of the move_group node -->
  <include file="$(find j2s6s300_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find j2s6s300_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>	 

</launch>