完成末端位姿控制下的运动规划舞蹈

simulation_ws/install/MoveIt2/share/MoveIt2/launch/move_group.launch.py

@@ -33,4 +33,54 @@ def generate_launch_description():
     return LaunchDescription([
         declare_use_sim_time,
         move_group_node,
-    ])
+    ])
+
+
+# from moveit_configs_utils import MoveItConfigsBuilder
+# from launch import LaunchDescription
+# from launch.actions import DeclareLaunchArgument
+# from launch.substitutions import LaunchConfiguration
+# from launch_ros.actions import Node
+
+
+# def generate_launch_description():
+#     # 声明 use_sim_time 参数
+#     declare_use_sim_time = DeclareLaunchArgument(
+#         "use_sim_time",
+#         default_value="true",
+#         description="Use simulation/Gazebo clock",
+#     )
+
+#     use_sim_time = LaunchConfiguration("use_sim_time")
+
+#     # ✅ 显式链式加载所有配置，确保 kinematics.yaml 被正确读取
+#     moveit_config = (
+#         MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2")
+#         .robot_description()            # → urdf/robotic_arm.urdf.xacro
+#         .robot_description_semantic()   # → config/robotic_arm.srdf
+#         .robot_description_kinematics() # → config/kinematics.yaml ← 关键！
+#         .trajectory_execution(          # → config/moveit_controllers.yaml
+#             file_path="config/moveit_controllers.yaml"
+#         )
+#         .planning_pipelines(            # → config/ompl_planning.yaml
+#             pipelines=["ompl"]
+#         )
+#         .to_moveit_configs()
+#     )
+
+#     # move_group 节点
+#     move_group_node = Node(
+#         package="moveit_ros_move_group",
+#         executable="move_group",
+#         output="screen",
+#         parameters=[
+#             moveit_config.to_dict(),
+#             {"use_sim_time": use_sim_time},
+#             {"publish_robot_description_semantic": True},
+#         ],
+#     )
+
+#     return LaunchDescription([
+#         declare_use_sim_time,
+#         move_group_node,
+#     ])