add gripper to real.launch.py

clubcapra · Jun 15, 2024 · 3a753eb · 3a753eb
1 parent 21396c8
commit 3a753eb
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/src/rove_bringup/launch/real.launch.py b/src/rove_bringup/launch/real.launch.py
@@ -14,6 +14,7 @@ def generate_launch_description():
     # Get the launch directory
     pkg_rove_bringup = get_package_share_directory('rove_bringup')
     pkg_rove_description = get_package_share_directory('rove_description')
+    pkg_robotiq_description = get_package_share_directory('robotiq_description')
 
     # Get the URDF file
     urdf_path = os.path.join(pkg_rove_description, 'urdf', 'rove.urdf.xacro')
@@ -43,6 +44,12 @@ def generate_launch_description():
         }.items(),
     )
 
+    gripper = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_robotiq_description, "launch", "robotiq_control.launch.py"),
+        )
+    )
+
     ###### ROS2 control ######
     controllers = PathJoinSubstitution(
         [
@@ -123,6 +130,7 @@ def create_controller_node(node_name:str):
     return LaunchDescription([
             control_node,
             common,
+            gripper,
             joint_state_broadcaster_spawner,
             *delayed_controller_nodes,
             vectornav,