`robot_commander.launch`是gauss_commander的啟動文件。gauss_commander主要和moveit通信，并且對外提供api。 ``` <?xml version="0.0"?> <launch> <arg name="simulation_mode" default="false" /> <!-- Moveit move_group --> <include file="$(find gauss_moveit_config)/launch/move_group.launch" /> <!-- Disable Moveit! controller timeout --> <param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" /> <!-- Change start tolerance from 0.01 to 0.0 to avoid this error : "Invalid Trajectory: start point deviates from current robot state more than"--> <!-- more info http://moveit.ros.org/moveit!/ros/2017/01/03/firstIndigoRelease.html --> <param name="/move_group/trajectory_execution/allowed_start_tolerance" value="0.0" /> <!-- Change from 0.1 to 0.3 rad --> <!-- Allows joints to be outside of min and max values when starting --> <param name="/move_group/start_state_max_bounds_error" value="0.3" /> <!-- Robot commander --> <node name="gauss_commander" pkg="gauss_commander" type="gauss_commander_node.py" output="screen" respawn="false"> <param name="reference_frame" type="string" value="ground_link" /> <param name="move_group_commander_name" type="string" value="gauss_arm" /> <param name="allow_replanning" type="bool" value="true" /> <param name="simulator_mode" type="bool" value="false" /> <param name="debug_mode" type="bool" value="false" /> <param name="goal_joint_tolerance" type="double" value="0.0001" /> <param name="goal_position_tolerance" type="double" value="0.0001" /> <param name="goal_orientation_tolerance" type="double" value="0.001" /> <param name="positions_dir" type="string" value="~/gauss_positions" unless="$(arg simulation_mode)"/> <param name="positions_dir" type="string" value="~/gauss_positions" if="$(arg simulation_mode)"/> <param name="trajectories_dir" type="string" value="~/gauss_trajectories" unless="$(arg simulation_mode)"/> <param name="trajectories_dir" type="string" value="~/gauss_trajectories" if="$(arg simulation_mode)"/> </node> </launch> ```