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<launch>
# configuration file for the fake object recogniser
<arg name="config_file" default="$(find gazebo_test_tools)/config/FakeObjectRecognizer.yaml"/>
# load ROS parameters from configuratoin file
<rosparam ns="gazebo_test_tools" file="$(arg config_file)"/>
# name of the node
<arg name="node_name" default="fake_object_recognizer"/>
#####################################
# Lauch the fake object recogniser node
#####################################
<node name="$(arg node_name)" pkg="gazebo_test_tools" type="fake_object_recognizer_node" respawn="true" output="screen"/>
#####################################
# Load the object tf publisher along
# with the fake object detector so that
# recognised objects also can
# get published on tf
#####################################
<include file="$(find gazebo_test_tools)/launch/object_tf_broadcaster.launch">
# use the default config file profided in this package
<arg name="config_file" value="$(find gazebo_test_tools)/config/ObjectTFBroadcaster.yaml"/>
</include>
</launch>
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