planning_context.launch

<launch>

  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->

  <arg name="load_robot_description" default="false"/>

  <!-- The name of the parameter under which the URDF is loaded -->

  <arg name="robot_description" default="robot_description"/>

  <!-- Load universal robot description format (URDF) -->

  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="/home/tanxiaohai/f_.urdf"/>

  <!-- The semantic description that corresponds to the URDF -->

  <param name="$(arg robot_description)_semantic" textfile="$(find shake_hand)/config/f_robot.srdf" />

  <!-- Load updated joint limits (override information from URDF) -->

  <group ns="$(arg robot_description)_planning">

    <rosparam command="load" file="$(find shake_hand)/config/joint_limits.yaml"/>

  </group>

  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

  <group ns="$(arg robot_description)_kinematics">

    <rosparam command="load" file="$(find shake_hand)/config/kinematics.yaml"/>

  </group>

</launch>