[fix] Organize the configuration files of the xarm_controller

utiasSTARS · Sep 18, 2023 · 03110c7 · 03110c7
1 parent 999a474
commit 03110c7
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Showing 93 changed files with 1,378 additions and 1,569 deletions.
diff --git a/examples/xarm5_vacuum_gripper_moveit_config/launch/realMove_exec.launch b/examples/xarm5_vacuum_gripper_moveit_config/launch/realMove_exec.launch
@@ -35,20 +35,18 @@
   </include>
 
   <!-- load the joint trajectory controller specified in yaml -->
-  <rosparam file="$(find xarm_controller)/config/xarm5_traj_controller.yaml" command="load" ns="$(arg xarm_hw_ns)"/>
-  <arg name="xarm_traj_controller" value="$(eval 'xarm5_traj_controller_velocity' if arg('velocity_control') else 'xarm5_traj_controller')" />
+  <rosparam file="$(find xarm_controller)/config/xarm5/xarm5_controllers.yaml" command="load" ns="$(arg xarm_hw_ns)"/>
+  <arg name="robot_controller_name" value="$(eval 'xarm5_velo_traj_controller' if arg('velocity_control') else 'xarm5_traj_controller')" />
   <node
     name="traj_controller_spawner"
     pkg="controller_manager"
     type="spawner"
     respawn="false"
     output="screen"
     ns="$(arg xarm_hw_ns)"
-    args="$(arg xarm_traj_controller) joint_state_controller"/>
+    args="$(arg robot_controller_name) joint_state_controller"/>
 
-  <!-- from="/follow_joint_trajectory" should not remove "/" -->
-  <!-- <remap from="/follow_joint_trajectory" to="xarm/xarm5_traj_controller/follow_joint_trajectory"/> -->
-  <remap from="/follow_joint_trajectory" to="$(arg xarm_hw_ns)/$(arg xarm_traj_controller)/follow_joint_trajectory"/>
+  <remap from="/follow_joint_trajectory" to="$(arg xarm_hw_ns)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <!-- common part -->
   <remap from="/tf" to="$(arg ext_ns)/tf" />

diff --git a/examples/xarm5_vacuum_gripper_moveit_config/launch/xarm5_vacuum_gripper_moveit_gazebo.launch b/examples/xarm5_vacuum_gripper_moveit_config/launch/xarm5_vacuum_gripper_moveit_gazebo.launch
@@ -7,7 +7,9 @@
 
   <!-- Remap the name space so it can send command to gazebo loaded controller -->
   <!-- this remap must appear BEFORE move_group launch -->
-  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/xarm5_traj_controller/follow_joint_trajectory"/>
+  <arg name="velocity_control" default="false"/>
+  <arg name="robot_controller_name" value="$(eval 'xarm5_velo_traj_controller' if arg('velocity_control') else 'xarm5_traj_controller')" />
+  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <include file="$(find xarm5_vacuum_gripper_moveit_config)/launch/moveit_rviz_common.launch">
     <arg name="jnt_stat_source" value="[/$(arg namespace)/joint_states]" />

diff --git a/examples/xarm6_vacuum_gripper_moveit_config/launch/realMove_exec.launch b/examples/xarm6_vacuum_gripper_moveit_config/launch/realMove_exec.launch
@@ -35,19 +35,18 @@
   </include>
 
   <!-- load the joint trajectory controller specified in yaml -->
-  <rosparam file="$(find xarm_controller)/config/xarm6_traj_controller.yaml" command="load" ns="$(arg xarm_hw_ns)"/>
-  <arg name="xarm_traj_controller" value="$(eval 'xarm6_traj_controller_velocity' if arg('velocity_control') else 'xarm6_traj_controller')" />
+  <rosparam file="$(find xarm_controller)/config/xarm6/xarm6_controllers.yaml" command="load" ns="$(arg xarm_hw_ns)"/>
+  <arg name="robot_controller_name" value="$(eval 'xarm6_velo_traj_controller' if arg('velocity_control') else 'xarm6_traj_controller')" />
   <node
     name="traj_controller_spawner"
     pkg="controller_manager"
     type="spawner"
     respawn="false"
     output="screen"
     ns="$(arg xarm_hw_ns)"
-    args="$(arg xarm_traj_controller) joint_state_controller"/>
+    args="$(arg robot_controller_name) joint_state_controller"/>
 
-  <!-- <remap from="/follow_joint_trajectory" to="xarm/xarm6_traj_controller/follow_joint_trajectory"/> -->
-  <remap from="/follow_joint_trajectory" to="$(arg xarm_hw_ns)/$(arg xarm_traj_controller)/follow_joint_trajectory"/>
+  <remap from="/follow_joint_trajectory" to="$(arg xarm_hw_ns)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <!-- common part -->
   <remap from="/tf" to="$(arg ext_ns)/tf" />

diff --git a/examples/xarm6_vacuum_gripper_moveit_config/launch/xarm6_vacuum_gripper_moveit_gazebo.launch b/examples/xarm6_vacuum_gripper_moveit_config/launch/xarm6_vacuum_gripper_moveit_gazebo.launch
@@ -7,7 +7,9 @@
 
   <!-- Remap the name space so it can send command to gazebo loaded controller -->
   <!-- this remap must appear BEFORE move_group launch -->
-  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/xarm6_traj_controller/follow_joint_trajectory"/>
+  <arg name="velocity_control" default="false"/>
+  <arg name="robot_controller_name" value="$(eval 'xarm6_velo_traj_controller' if arg('velocity_control') else 'xarm6_traj_controller')" />
+  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <include file="$(find xarm6_vacuum_gripper_moveit_config)/launch/moveit_rviz_common.launch">
     <arg name="jnt_stat_source" value="[/$(arg namespace)/joint_states]" />

diff --git a/examples/xarm7_vacuum_gripper_moveit_config/launch/realMove_exec.launch b/examples/xarm7_vacuum_gripper_moveit_config/launch/realMove_exec.launch
@@ -35,19 +35,18 @@
   </include>
 
   <!-- load the joint trajectory controller specified in yaml -->
-  <rosparam file="$(find xarm_controller)/config/xarm7_traj_controller.yaml" command="load" ns="$(arg xarm_hw_ns)"/>
-  <arg name="xarm_traj_controller" value="$(eval 'xarm7_traj_controller_velocity' if arg('velocity_control') else 'xarm7_traj_controller')" />
+  <rosparam file="$(find xarm_controller)/config/xarm7/xarm7_controllers.yaml" command="load" ns="$(arg xarm_hw_ns)"/>
+  <arg name="robot_controller_name" value="$(eval 'xarm7_velo_traj_controller' if arg('velocity_control') else 'xarm7_traj_controller')" />
   <node
     name="traj_controller_spawner"
     pkg="controller_manager"
     type="spawner"
     respawn="false"
     output="screen"
     ns="$(arg xarm_hw_ns)"
-    args="$(arg xarm_traj_controller) joint_state_controller"/>
+    args="$(arg robot_controller_name) joint_state_controller"/>
 
-  <!-- <remap from="/follow_joint_trajectory" to="xarm/xarm7_traj_controller/follow_joint_trajectory"/> -->
-  <remap from="/follow_joint_trajectory" to="$(arg xarm_hw_ns)/$(arg xarm_traj_controller)/follow_joint_trajectory"/>
+  <remap from="/follow_joint_trajectory" to="$(arg xarm_hw_ns)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <!-- common part -->
   <remap from="/tf" to="$(arg ext_ns)/tf" />

diff --git a/examples/xarm7_vacuum_gripper_moveit_config/launch/xarm7_vacuum_gripper_moveit_gazebo.launch b/examples/xarm7_vacuum_gripper_moveit_config/launch/xarm7_vacuum_gripper_moveit_gazebo.launch
@@ -7,7 +7,9 @@
 
   <!-- Remap the name space so it can send command to gazebo loaded controller -->
   <!-- this remap must appear BEFORE move_group launch -->
-  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/xarm7_traj_controller/follow_joint_trajectory"/>
+  <arg name="velocity_control" default="false"/>
+  <arg name="robot_controller_name" value="$(eval 'xarm7_velo_traj_controller' if arg('velocity_control') else 'xarm7_traj_controller')" />
+  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <include file="$(find xarm7_vacuum_gripper_moveit_config)/launch/moveit_rviz_common.launch">
     <arg name="jnt_stat_source" value="[/$(arg namespace)/joint_states]" />

diff --git a/lite6_moveit_config/launch/lite6_moveit_gazebo.launch b/lite6_moveit_config/launch/lite6_moveit_gazebo.launch
@@ -22,8 +22,8 @@
 
   <!-- Remap the name space so it can send command to gazebo loaded controller -->
   <!-- this remap must appear BEFORE move_group launch -->
-  <arg name="uf_traj_controller" value="$(eval 'lite6_traj_controller_velocity' if arg('velocity_control') else 'lite6_traj_controller')" />
-  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/$(arg uf_traj_controller)/follow_joint_trajectory"/>
+  <arg name="robot_controller_name" value="$(eval 'lite6_velo_traj_controller' if arg('velocity_control') else 'lite6_traj_controller')" />
+  <remap from="/follow_joint_trajectory" to="/$(arg namespace)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <include file="$(find lite6_moveit_config)/launch/moveit_rviz_common.launch">
     <arg name="jnt_stat_source" value="[/$(arg namespace)/joint_states]" />

diff --git a/lite6_moveit_config/launch/realMove_exec.launch b/lite6_moveit_config/launch/realMove_exec.launch
@@ -47,19 +47,18 @@
   </include>
 
   <!-- load the joint trajectory controller specified in yaml -->
-  <rosparam file="$(find xarm_controller)/config/lite6_traj_controller.yaml" command="load" ns="$(arg uf_hw_ns)"/>
-  <arg name="uf_traj_controller" value="$(eval 'lite6_traj_controller_velocity' if arg('velocity_control') else 'lite6_traj_controller')" />
+  <rosparam file="$(find xarm_controller)/config/lite6/lite6_controllers.yaml" command="load" ns="$(arg uf_hw_ns)"/>
+  <arg name="robot_controller_name" value="$(eval 'lite6_velo_traj_controller' if arg('velocity_control') else 'lite6_traj_controller')" />
   <node
     name="traj_controller_spawner"
     pkg="controller_manager"
     type="spawner"
     respawn="false"
     output="screen"
     ns="$(arg uf_hw_ns)"
-    args="$(arg uf_traj_controller) joint_state_controller"/>
+    args="$(arg robot_controller_name) joint_state_controller"/>
 
-  <!-- <remap from="/follow_joint_trajectory" to="xarm/lite6_traj_controller/follow_joint_trajectory"/> -->
-  <remap from="/follow_joint_trajectory" to="$(arg uf_hw_ns)/$(arg uf_traj_controller)/follow_joint_trajectory"/>
+  <remap from="/follow_joint_trajectory" to="$(arg uf_hw_ns)/$(arg robot_controller_name)/follow_joint_trajectory"/>
 
   <!-- common part -->
   <remap from="/tf" to="$(arg ext_ns)/tf" />

diff --git a/uf_robot_moveit_config/config/uf850/gazebo_controllers_with_gripper_action.yaml b/uf_robot_moveit_config/config/uf850/gazebo_controllers_with_gripper_action.yaml
@@ -0,0 +1,18 @@
+controller_list:
+  - name: ""
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+
+  - name: gripper_controller
+    action_ns: gripper_action
+    type: GripperCommand
+    joints:
+     - drive_joint
+    allow_failure: true
diff --git a/uf_robot_moveit_config/config/xarm5/gazebo_controllers_with_gripper_action.yaml b/uf_robot_moveit_config/config/xarm5/gazebo_controllers_with_gripper_action.yaml
@@ -0,0 +1,17 @@
+controller_list:
+  - name: ""
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+
+  - name: gripper_controller
+    action_ns: gripper_action
+    type: GripperCommand
+    joints:
+     - drive_joint
+    allow_failure: true
diff --git a/uf_robot_moveit_config/config/xarm6/gazebo_controllers_with_gripper_action.yaml b/uf_robot_moveit_config/config/xarm6/gazebo_controllers_with_gripper_action.yaml
@@ -0,0 +1,18 @@
+controller_list:
+  - name: ""
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+
+  - name: gripper_controller
+    action_ns: gripper_action
+    type: GripperCommand
+    joints:
+     - drive_joint
+    allow_failure: true
diff --git a/uf_robot_moveit_config/config/xarm7/gazebo_controllers_with_gripper_action.yaml b/uf_robot_moveit_config/config/xarm7/gazebo_controllers_with_gripper_action.yaml
@@ -0,0 +1,19 @@
+controller_list:
+  - name: ""
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+      - joint7
+
+  - name: gripper_controller
+    action_ns: gripper_action
+    type: GripperCommand
+    joints:
+     - drive_joint
+    allow_failure: true
diff --git a/uf_robot_moveit_config/launch/__move_group.launch b/uf_robot_moveit_config/launch/__move_group.launch
@@ -13,6 +13,7 @@
 
   <arg name="sim_gazebo" default="false"/>
   <arg name="add_gripper" default="false"/>
+  <arg name="gripper_action" default="false"/>
 
   <arg name="sensors_3d" default="false" />
   <arg name="dof" default="7" />
@@ -26,21 +27,39 @@
   <arg name="jiggle_fraction" default="0.05" />
   <arg name="publish_monitored_planning_scene" default="true"/>
 
+  <arg name="pipeline" default="ompl" />
+
   <!-- Planning Functionality -->
   <include ns="move_group" file="$(find uf_robot_moveit_config)/launch/__planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+    <arg name="pipeline" value="$(arg pipeline)" />
     <arg name="robot_name" value="$(arg robot_name)"/>
   </include>
 
+  <arg name="gripper_controller" if="$(eval arg('robot_type') == 'lite')" value="false"/>
+  <arg name="gripper_controller" unless="$(eval arg('robot_type') == 'lite')" value="$(arg add_gripper)"/>
+
   <!-- Trajectory Execution Functionality -->
   <include ns="move_group" file="$(find uf_robot_moveit_config)/launch/__trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_manage_controllers" value="true" />
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
     <arg name="moveit_controller_manager" value="gazebo" if="$(eval not arg('fake_execution') and arg('sim_gazebo'))"/>
     <arg name="moveit_controller_manager" value="robot" if="$(eval not arg('fake_execution') and not arg('sim_gazebo'))"/>
-    <arg name="add_gripper" value="$(arg add_gripper)"/>
+    <!-- <arg name="add_gripper" value="$(arg add_gripper)"/>
+    <arg name="gripper_action" value="$(arg gripper_action)"/>
     <arg name="robot_type" value="$(arg robot_type)"/>
-    <arg name="robot_name" value="$(arg robot_name)"/>
+    <arg name="robot_name" value="$(arg robot_name)"/> -->
+
+    <!-- fake -->
+    <arg if="$(eval arg('fake_execution') and arg('gripper_controller'))" name="controllers_file" value="$(find uf_robot_moveit_config)/config/$(arg robot_name)/fake_controllers_with_gripper.yaml"/>
+    <arg if="$(eval arg('fake_execution') and not arg('gripper_controller'))" name="controllers_file" value="$(find uf_robot_moveit_config)/config/$(arg robot_name)/fake_controllers.yaml"/>
+    <!-- gazebo -->
+    <arg if="$(eval not arg('fake_execution') and arg('sim_gazebo') and arg('gripper_action') and arg('gripper_controller'))" name="controllers_file" value="$(find uf_robot_moveit_config)/config/$(arg robot_name)/gazebo_controllers_with_gripper_action.yaml"/>
+    <arg if="$(eval not arg('fake_execution') and arg('sim_gazebo') and not arg('gripper_action') and arg('gripper_controller'))" name="controllers_file" value="$(find uf_robot_moveit_config)/config/$(arg robot_name)/gazebo_controllers_with_gripper.yaml"/>
+    <arg if="$(eval not arg('fake_execution') and arg('sim_gazebo') and not arg('gripper_controller'))" name="controllers_file" value="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers.yaml"/>
+    <!-- real -->
+    <arg if="$(eval not arg('fake_execution') and not arg('sim_gazebo') and arg('gripper_controller'))" name="controllers_file" value="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers_with_gripper.yaml"/>
+    <arg if="$(eval not arg('fake_execution') and not arg('sim_gazebo') and not arg('gripper_controller'))" name="controllers_file" value="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers.yaml"/>
+
   </include>
 
   <!-- Sensors Functionality -->

diff --git a/uf_robot_moveit_config/launch/__moveit_controller_manager_fake.launch.xml b/uf_robot_moveit_config/launch/__moveit_controller_manager_fake.launch.xml
@@ -1,12 +1,14 @@
 <launch>
-  <arg name="add_gripper" default="false"/>
-  <arg name="robot_name" default="xarm7"/>
+  <!-- <arg name="add_gripper" default="false"/>
+  <arg name="gripper_action" default="false"/>
+  <arg name="robot_name" default="xarm7"/> -->
+  <arg name="controllers_file" default=""/>
 
   <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 
   <!-- The rest of the params are specific to this plugin -->
-  <rosparam if="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/fake_controllers_with_gripper.yaml"/>
-  <rosparam unless="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/fake_controllers.yaml"/>
-
+  <!-- <rosparam if="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/fake_controllers_with_gripper.yaml"/>
+  <rosparam unless="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/fake_controllers.yaml"/> -->
+  <rosparam file="$(arg controllers_file)"/>
 </launch>
diff --git a/uf_robot_moveit_config/launch/__moveit_controller_manager_gazebo.launch.xml b/uf_robot_moveit_config/launch/__moveit_controller_manager_gazebo.launch.xml
@@ -1,12 +1,16 @@
 <launch>
-	<arg name="add_gripper" default="false"/>
-  <arg name="robot_name" default="xarm7"/>
+	<!-- <arg name="add_gripper" default="false"/>
+  <arg name="gripper_action" default="false"/>
+  <arg name="robot_name" default="xarm7"/> -->
+  <arg name="controllers_file" default=""/>
 
 	<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
   <!-- Disable the exec duration monitoring  -->
   <param name="trajectory_execution/execution_duration_monitoring" value="false"/>
   <!-- The rest of the params are specific to this plugin -->
-	<rosparam if="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/gazebo_controllers_with_gripper.yaml"/>
-	<rosparam unless="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers.yaml"/>
+	<!-- <rosparam if="$(eval arg('add_gripper') and arg('gripper_action'))" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/gazebo_controllers_with_gripper_action.yaml"/>
+	<rosparam if="$(eval arg('add_gripper') and not arg('gripper_action'))" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/gazebo_controllers_with_gripper.yaml"/>
+	<rosparam unless="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers.yaml"/> -->
+  <rosparam file="$(arg controllers_file)"/>
 </launch>
diff --git a/uf_robot_moveit_config/launch/__moveit_controller_manager_robot.launch.xml b/uf_robot_moveit_config/launch/__moveit_controller_manager_robot.launch.xml
@@ -1,13 +1,16 @@
 <launch>
-	<arg name="add_gripper" default="false"/>
-  <arg name="robot_name" default="xarm7"/>
+	<!-- <arg name="add_gripper" default="false"/>
+  <arg name="gripper_action" default="false"/>
+  <arg name="robot_name" default="xarm7"/> -->
+  <arg name="controllers_file" default=""/>
 
 	<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
   <!-- Disable the exec duration monitoring  -->
   <param name="trajectory_execution/execution_duration_monitoring" value="false"/>
   <!-- The rest of the params are specific to this plugin -->
-	<rosparam if="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers_with_gripper.yaml"/>
-	<rosparam unless="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers.yaml"/>
+	<!-- <rosparam if="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers_with_gripper.yaml"/>
+	<rosparam unless="$(arg add_gripper)" file="$(find uf_robot_moveit_config)/config/$(arg robot_name)/controllers.yaml"/> -->
+	<rosparam file="$(arg controllers_file)"/>
 
 </launch>
diff --git a/uf_robot_moveit_config/launch/__moveit_rviz.launch b/uf_robot_moveit_config/launch/__moveit_rviz.launch
@@ -5,10 +5,14 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="no_gui_ctrl" default="false" />
-  <arg if="$(arg no_gui_ctrl)" name="command_args" value="-d $(find xarm_planner)/launch/planner.rviz" />
-  <!-- <arg unless="$(arg no_gui_ctrl)" name="command_args" value="-d $(find uf_robot_moveit_config)/launch/moveit.rviz" /> -->
-  <arg unless="$(arg no_gui_ctrl)" name="command_args" value="-d $(find uf_robot_moveit_config)/config/$(arg robot_name)/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+
+  <arg name="no_gui_plan" default="false" />
+  <arg if="$(arg no_gui_plan)" name="command_args" value="-d $(find xarm_planner)/launch/planner.rviz" />
+  <!-- <arg unless="$(arg no_gui_plan)" name="command_args" value="-d $(find uf_robot_moveit_config)/launch/moveit.rviz" /> -->
+  <!-- <arg unless="$(arg no_gui_plan)" name="command_args" value="-d $(find uf_robot_moveit_config)/config/$(arg robot_name)/moveit.rviz" /> -->
+  <arg if="$(eval not no_gui_plan and rviz_config!='')" name="command_args" value="-d $(arg rviz_config)" />
+  <arg if="$(eval not no_gui_plan and rviz_config=='')" name="command_args" value="-d $(find uf_robot_moveit_config)/config/$(arg robot_name)/moveit.rviz" />
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
 	args="$(arg command_args)" output="screen">