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Actually I solve this problem. The steps was:
1 - Followed Exactly this tutorial: tutorial
2 - I realized that my demo.launch provided by Moveit! Setup Assistant have those commands that are not shown in ANY tutorial:
<!-- 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="$(find manipulator_h_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find manipulator_h_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
So I copied those commands and put in my moveit_planning_execution.launch and then Works finally!