move tool frame/task frame to ctrl pkg

harvest_arm_ctrl/launch/kine_arm.launch.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import os
+from pathlib import Path
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    package_share_dir_rm = get_package_share_directory("harvest_arm_rm")
+    package_share_dir = get_package_share_directory("harvest_arm_ctrl")
+
+    config_file = os.path.join(
+        package_share_dir_rm,
+        "config",
+        "config.yaml"
+    )
+
+    urdf_file = os.path.join(
+        package_share_dir_rm,
+        "urdf",
+        "urdf_rm75",
+        "RM75.urdf"
+    )
+    meshes_dir = str(Path(urdf_file).parent)
+
+
+    kine_arm_node = Node(
+        package="harvest_arm_ctrl",
+        executable="kine_arm",
+        name="kine_arm_node",
+        output="screen",
+        parameters=[
+            config_file,
+            {
+            "urdf_path": urdf_file,
+            "mesh_dir": meshes_dir,
+            },
+        ],
+    )
+
+
+
+
+
+    return LaunchDescription([
+        kine_arm_node,
+    ])
+
+
+
+
+'''
+
+
+colcon build --packages-select harvest_arm_ctrl --symlink-install
+
+
+
+'''