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pr2_gazebo: add arg KINECT #134

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merged 1 commit into from Feb 13, 2018
Merged

pr2_gazebo: add arg KINECT #134

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6 changes: 4 additions & 2 deletions pr2_gazebo/launch/pr2.launch
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@@ -1,7 +1,9 @@
<launch>

<arg name="KINECT1" default="$(optenv KINECT1 false)" />
<arg name="KINECT2" default="$(optenv KINECT2 false)" />

<!-- Startup PR2 without any mechanism controllers -->
<include file="$(find pr2_gazebo)/launch/pr2_no_controllers.launch" />
<include file="$(find pr2_gazebo)/launch/pr2_no_controllers.launch" pass_all_args="true"/>

<!-- Load and Start Default Controllers -->
<include file="$(find pr2_controller_configuration_gazebo)/launch/pr2_default_controllers.launch" />
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8 changes: 7 additions & 1 deletion pr2_gazebo/launch/pr2_empty_world.launch
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Expand Up @@ -7,6 +7,9 @@
<arg name="throttled" default="false"/>
-->

<arg name="KINECT1" default="$(optenv KINECT1 false)" />
<arg name="KINECT2" default="$(optenv KINECT2 false)" />

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
Expand All @@ -16,7 +19,10 @@
</include>

<!-- start pr2 robot -->
<include file="$(find pr2_gazebo)/launch/pr2.launch"/>
<include file="$(find pr2_gazebo)/launch/pr2.launch">
<arg name="KINECT1" value="$(arg KINECT1)" />
<arg name="KINECT2" value="$(arg KINECT2)" />
</include>

</launch>

6 changes: 4 additions & 2 deletions pr2_gazebo/launch/pr2_no_controllers.launch
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Open in desktop
@@ -1,7 +1,9 @@
<launch>

<arg name="KINECT1" default="$(optenv KINECT1 false)" />
<arg name="KINECT2" default="$(optenv KINECT2 false)" />

<!-- send pr2 urdf to param server -->
<include file="$(find pr2_description)/robots/upload_pr2.launch" />
<include file="$(find pr2_description)/robots/upload_pr2.launch" pass_all_args="true" />

<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_pr2_model" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model pr2 -ros_namespace /gazebo" respawn="false" output="screen" />
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8 changes: 7 additions & 1 deletion pr2_gazebo/launch/pr2_table_object.launch
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Expand Up @@ -10,6 +10,9 @@
<arg name="throttled" default="false"/>
-->

<arg name="KINECT1" default="$(optenv KINECT1 false)" />
<arg name="KINECT2" default="$(optenv KINECT2 false)" />

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
Expand All @@ -18,7 +21,10 @@
-->
</include>

<include file="$(find pr2_gazebo)/launch/pr2.launch"/>
<include file="$(find pr2_gazebo)/launch/pr2.launch">
<arg name="KINECT1" value="$(arg KINECT1)" />
<arg name="KINECT2" value="$(arg KINECT2)" />
</include>

<!-- -J r_upper_arm_roll_joint -1.64 -J r_shoulder_pan_joint -2.135 -J r_shoulder_lift_joint -0.02 -J r_forearm_roll_joint -1.64 -J r_elbow_flex_joint -2.07 -J r_wrist_flex_joint -1.68 -J r_wrist_roll_joint 1.40 -->
<!--include file="$(find pr2_controller_configuration_gazebo)/launch/pr2_default_controllers.launch" /-->
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8 changes: 7 additions & 1 deletion pr2_gazebo/launch/pr2_table_simple_shapes.launch
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Expand Up @@ -11,6 +11,9 @@
<arg name="throttled" default="false"/>
-->

<arg name="KINECT1" default="$(optenv KINECT1 false)" />
<arg name="KINECT2" default="$(optenv KINECT2 false)" />

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
Expand All @@ -19,7 +22,10 @@
-->
</include>

<include file="$(find pr2_gazebo)/launch/pr2.launch"/>
<include file="$(find pr2_gazebo)/launch/pr2.launch">
<arg name="KINECT1" value="$(arg KINECT1)" />
<arg name="KINECT2" value="$(arg KINECT2)" />
</include>

<!-- -J r_upper_arm_roll_joint -1.64 -J r_shoulder_pan_joint -2.135 -J r_shoulder_lift_joint -0.02 -J r_forearm_roll_joint -1.64 -J r_elbow_flex_joint -2.07 -J r_wrist_flex_joint -1.68 -J r_wrist_roll_joint 1.40 -->
<!--include file="$(find pr2_controller_configuration_gazebo)/launch/pr2_default_controllers.launch" /-->
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8 changes: 7 additions & 1 deletion pr2_gazebo/launch/pr2_wg_world.launch
View file
Open in desktop
Expand Up @@ -7,6 +7,9 @@
<arg name="throttled" default="false"/>
-->

<arg name="KINECT1" default="$(optenv KINECT1 false)" />
<arg name="KINECT2" default="$(optenv KINECT2 false)" />

<include file="$(find gazebo_ros)/launch/willowgarage_world.launch">
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
Expand All @@ -16,7 +19,10 @@
</include>

<!-- start pr2 robot -->
<include file="$(find pr2_gazebo)/launch/pr2.launch"/>
<include file="$(find pr2_gazebo)/launch/pr2.launch">
<arg name="KINECT1" value="$(arg KINECT1)" />
<arg name="KINECT2" value="$(arg KINECT2)" />
</include>

</launch>