Creating MoveIt Plugins Example Launchfile Fix

[nhewitt99]

Description

Not sure if I'm missing something, but it seems like the launchfile included for the "Creating MoveIt Plugins" example (implementing a lerp planner) is incomplete. It only starts up one node, but the MoveIt Noetic docs explain that it should spin up the panda_moveit_config demo launchfile.

I have a proposed fix and wonder if I should put together a PR.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04
• Source
• Commit Update trac_ik installation for ROS Noetic #711

Steps to reproduce

Running roslaunch moveit_tutorials lerp_example.launch yields Robot model not loaded, and the node dies.

Fix

It looks like the launchfile wasn't completed when it was committed. The following works as expected.

<launch>

  <include file="$(find panda_moveit_config)/launch/demo.launch">
    <arg name="pipeline" value="lerp"/>
  </include>

  <!-- Launch main node -->
  <node name="$(anon moveit_tutorials)" pkg="moveit_tutorials" type="lerp_example" respawn="false" output="screen">

    <!-- Robot-specific settings -->
    <rosparam file="$(find panda_moveit_config)/config/lerp_planning.yaml" command="load"/>
  </node>

</launch>

Expected behaviour

Running roslaunch moveit_tutorials lerp_example.launch should launch an rviz instance where a lerp planner is available for motion planning on a panda arm.

[welcome]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.