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Hi @Sebastian_ROS

If you look into demo_gazebo.launch and demo_launch they are different and run different nodes. You can find them in your system, but for others the files look like this:

demo_launch

demo_gazebo_launch

If you look at the control portion of the launch file:

For demo.launch:

  <!-- Choose controller manager: fake, simple, or ros_control -->
  <arg name="moveit_controller_manager" default="fake" />
  <!-- Set execution mode for fake execution controllers -->
  <arg name="fake_execution_type" default="interpolate" />

And for demo_gazebo_launch:

  <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" />
    <arg name="moveit_controller_manager" value="ros_control" />
  </include>

As you can see the default moveit_controller_manager for demo.launch is fake, whereas in demo_gazebo.launch the value is ros_control.