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Merge pull request #161 from Field-Robotics-Lab/elec_lead
Flying lead updates. Merge check bug fixed in subsequent commit.
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51 changes: 51 additions & 0 deletions
51
examples/dave_demo_launch/launch/dave_plug_and_socket_demo.launch
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Original file line number | Diff line number | Diff line change |
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<?xml version="1.0"?> | ||
<launch> | ||
<arg name="gui" default="true"/> | ||
<arg name="paused" default="false"/> | ||
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_plug_and_socket_demo.world"/> | ||
<arg name="set_timeout" default="false"/> | ||
<arg name="timeout" default="0.0"/> | ||
<arg name="joy_id" default="0"/> | ||
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<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world --> | ||
<include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
<arg name="world_name" value="$(arg world_name)"/> | ||
<arg name="paused" value="$(arg paused)"/> | ||
<arg name="use_sim_time" value="true"/> | ||
<arg name="gui" value="$(arg gui)"/> | ||
<arg name="headless" value="false"/> | ||
<arg name="debug" value="false"/> | ||
<arg name="verbose" value="true"/> | ||
</include> | ||
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<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/> | ||
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<group if="$(arg set_timeout)"> | ||
<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch"> | ||
<arg name="timeout" value="$(arg timeout)"/> | ||
</include> | ||
</group> | ||
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<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch"> | ||
<arg name="namespace" value="rexrov"/> | ||
<arg name="x" value="7.5"/> | ||
<arg name="y" value="1.25"/> | ||
<arg name="z" value="-95.5"/> | ||
<arg name="yaw" value="3.141592"/> | ||
</include> | ||
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<include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch"> | ||
<arg name="uuv_name" value="rexrov" /> | ||
<arg name="model_name" value="rexrov" /> | ||
<arg name="joy_id" value="$(arg joy_id)"/> | ||
</include> | ||
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<include file="$(find oberon7_control)/launch/joint_control.launch"> | ||
<arg name="uuv_name" value="rexrov"/> | ||
</include> | ||
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<include file="$(find plug_and_socket_description)/launch/upload_socket_platform.launch"/> | ||
<node name="spawn_socket" pkg="gazebo_ros" type="spawn_model" | ||
args="-urdf -param socket_platform -model socket_platform -x 0 -y 0 -z -99 -Y -1.57079632679" respawn="false" output="screen" /> | ||
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</launch> |
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