Enable warehouse in run_move_group launch

moveit · Oct 14, 2020 · 8491891 · 8491891
1 parent 3b9d3ff
commit 8491891
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/moveit_demo_nodes/run_move_group/launch/run_move_group.launch.py b/moveit_demo_nodes/run_move_group/launch/run_move_group.launch.py
@@ -107,4 +107,12 @@ def generate_launch_description():
                                               robot_description]
                                   )
 
-    return LaunchDescription([ rviz_node, static_tf, robot_state_publisher, run_move_group_node, fake_joint_driver_node ])
+    # Warehouse mongodb server
+    mongodb_server_node = Node(package='warehouse_ros_mongo',
+                               executable='mongo_wrapper_ros.py',
+                               parameters=[{'warehouse_port': 33829},
+                                           {'warehouse_host': 'localhost'},
+                                           {'warehouse_plugin': 'warehouse_ros_mongo::MongoDatabaseConnection'}],
+                               output='screen')
+
+    return LaunchDescription([ rviz_node, static_tf, robot_state_publisher, run_move_group_node, fake_joint_driver_node, mongodb_server_node ])