🚧 Work in progress: this documentation is still being written and reviewed. Check details against the source code.

Demo server launch

Launch the three Python demo servers with OMPL/KDL parameters supplied to move_server. Does not itself launch the robot driver or MoveIt move_group.

src.demos.hello_orchestrator_py.launch.demo.launch · Source

Examples and demos · Guide · Symbol index

How it is used

ROS launch calls generate_launch_description() to start the print, motion, and demo orchestrator servers together. It supplies OMPL and KDL parameters to the motion server. The robot driver and MoveIt move_group must be brought up separately; launching these demo nodes does not provide them.

Start here

Callable	Purpose
generate_launch_description	Construct print, move and orchestrator Node actions; pass the move node OMPL planning plugin/time-parameterization adapter and ur_arm KDL settings.

Functions

generate_launch_description()

Construct print, move and orchestrator Node actions; pass the move node OMPL planning plugin/time-parameterization adapter and ur_arm KDL settings.

Entry point · Source

generate_launch_description()

Returns: LaunchDescription with three Node actions and no declared arguments.

Errors: Launch/action construction errors propagate; runtime robot-model/MoveIt availability is not checked here.

Side effects: Builds launch objects; executing the description starts three ROS processes that can dispatch/execute demo moves.