From 5badec1c5cafe3b6725bea959babba7d73f9609e Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Fri, 9 Jun 2023 14:36:18 -0400
Subject: [PATCH] Improve: panda_moveit: Add parameters for perception tutorial

---
 panda_moveit_config/launch/demo.launch.py | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/panda_moveit_config/launch/demo.launch.py b/panda_moveit_config/launch/demo.launch.py
index 12e74017..6c491825 100644
--- a/panda_moveit_config/launch/demo.launch.py
+++ b/panda_moveit_config/launch/demo.launch.py
@@ -9,6 +9,22 @@
 from moveit_configs_utils import MoveItConfigsBuilder
 
 
+def _octomap_launch_params():
+    _path_panda_sensor_conf = PathJoinSubstitution(
+        [
+            FindPackageShare("panda_moveit_config"),
+            "config",
+            "sensors_kinect_pointcloud.yaml"
+        ])
+    _params = [
+        launch_ros.parameter_descriptions.ParameterFile(
+            param_file=_path_panda_sensor_conf,
+            allow_substs=True),
+        {"octomap_frame": "odom_combined"},
+        {"octomap_resolution": "0.05"},
+        {"max_range": "5.0"}]
+    return _params
+
 def generate_launch_description():
 
     # Command-line arguments
@@ -49,7 +65,7 @@ def generate_launch_description():
         package="moveit_ros_move_group",
         executable="move_group",
         output="screen",
-        parameters=[moveit_config.to_dict()],
+        parameters=[moveit_config.to_dict(), _octomap_launch_params()],
         arguments=["--ros-args", "--log-level", "info"],
     )