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Example launch

Example standalone launch files for launching this node and other required nodes can be found in the pr2_arm_kinematics_constraint_aware package. The tutorials for this package also provide an example of how to configure this node for the right arm of the PR2.

Planning environment configuration

This node uses components from the planning_environment package for collision checking. The planning environment ROS API documentation specifies how to configure the ROS API for the planning environment.


2019-12-07 12:56