Add demo_gazebo.launch using franka_gazebo

This commit adds demo_gazebo.launch using the gazebo simulation of the franka_gazebo package
Additionally, the virtual_joint is removed from the move group definition.

config/panda_arm.xacro

@@ -7,7 +7,6 @@
         <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
         <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
         <group name="panda_arm">
-            <joint name="virtual_joint"/>
             <joint name="panda_joint1"/>
             <joint name="panda_joint2"/>
             <joint name="panda_joint3"/>

config/ros_controllers.yaml

@@ -17,4 +17,4 @@ hardware_interface:
     - panda_joint6
     - panda_joint7
     - panda_finger_joint1
-  sim_control_mode: 1  # 0: position, 1: velocity
+  sim_control_mode: 1  # 0: position, 1: velocity

launch/demo_gazebo.launch

@@ -0,0 +1,52 @@
+<launch>
+
+  <!-- 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="$(find panda_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we won't load or override the robot_description -->
+  <arg name="load_robot_description" default="false"/>
+  <arg name="load_gripper" default="true" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(find franka_gazebo)/launch/panda.launch">
+    <arg unless="$(arg gazebo_gui)" name="headless" value="true"/>
+    <arg     if="$(arg gazebo_gui)" name="headless" value="false"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_gripper" default="$(arg load_gripper)"/>
+    <arg name="transmission" value="hardware_interface/PositionJointInterface"/>
+  </include>
+
+  <!-- Load position_joint_trajectory_controller -->
+  <include ns="panda" file="$(find panda_moveit_config)/launch/ros_controllers.launch"/>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include ns="panda" file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="load_gripper" value="$(arg load_gripper)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include ns="panda" file="$(dirname)/moveit_rviz.launch">
+    <arg name="rviz_config" value="$(find panda_moveit_config)/launch/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- 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>
+
+</launch>

launch/ros_controllers.launch

@@ -5,7 +5,6 @@
   <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load"/>
 
   <!-- Load the controllers -->
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="position_joint_trajectory_controller"/>
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller"/>
 
 </launch>

package.xml

@@ -34,6 +34,7 @@
       We don't include them by default to prevent installing gazebo and all its dependencies. -->
   <!-- <run_depend>joint_trajectory_controller</run_depend> -->
   <!-- <run_depend>gazebo_ros_control</run_depend> -->
+  <!-- <run_depend>franka_gazebo</run_depend> -->
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
     <run_depend>franka_description</run_depend>