mcc_test.launch

<launch>
  <!--
 * /gazebo/planning_scene [moveit_msgs/PlanningScene]
 * /tf [tf/tfMessage]
 * /tf_static [unknown type]
 * /gazebo/planning_scene_world [unknown type]
 * /gazebo/collision_object [moveit_msgs/CollisionObject]
 * /clock [rosgraph_msgs/Clock]

 * /gazebo/planning_scene [moveit_msgs/PlanningScene]
 * /tf [tf/tfMessage]
 * /tf_static [unknown type]
 * /gazebo/planning_scene_world [unknown type]
 * /gazebo/collision_object [moveit_msgs/CollisionObject]
 * /clock [rosgraph_msgs/Clock]

-->
  <arg name="cpp" default="false"/>
  <arg if="$(arg cpp)" name="suffix" value="_cpp"/>
  <arg unless="$(arg cpp)" name="suffix" value=""/>

  <group ns="gazebo/mcc_test_cpp">
    <param name="mcc_description"
      command="$(find xacro)/xacro.py '$(find barrett_model)/robots/bhand.urdf.xacro'
      prefix:=mcc
      parent_link:=world
      primitive:=false" />

    <param name="mcc_description_semantic"
      command="$(find xacro)/xacro.py '$(find barrett_wam_moveit_config)/config/bhand.srdf.xacro'
      prefix:=mcc" />
  </group>

  <node ns="gazebo" name="mcc_test$(arg suffix)" pkg="moveit_collision_checker" type="mcc_test.py" output="screen">
    <param name="robot_description_param" value="mcc_description"/>
    <param name="root_link" value="mcc/bhand/bhand_palm_link"/>
    <param name="scene_topic" value="planning_scene"/>
  </node>

</launch>