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<?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Load the URDF into the ROS Parameter Server -->
<arg name="load_robot_description" default="false"/>
<arg name="right_electric_gripper" default="false"/>
<arg name="left_electric_gripper" default="false"/>
<!-- Load universal robotic description format (URDF) -->
<param if="$(arg load_robot_description)" name="robot_description"
command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro
right_electric_gripper:=$(arg right_electric_gripper)
left_electric_gripper:=$(arg left_electric_gripper)"/>
<param name="root_name" value="base" />
<param name="grav_right_name" value="right_gripper" />
<param name="grav_left_name" value="left_gripper" />
<!-- load left and right tip name -->
<param name="right_tip_name" value="right_gripper" />
<param name="left_tip_name" value="left_gripper" />
<!-- load left and right joint names -->
<rosparam param="robot_config/right_config/joint_names">
[right_s0, right_s1, right_e0, right_e1, right_w0, right_w1, right_w2]
</rosparam>
<rosparam param="robot_config/left_config/joint_names">
[left_s0, left_s1, left_e0, left_e1, left_w0, left_w1, left_w2]
</rosparam>
<node name="baxter_sim_kinematics_left" pkg="baxter_sim_kinematics" type="kinematics" respawn="false" output="screen" args="left">
</node>
<node name="baxter_sim_kinematics_right" pkg="baxter_sim_kinematics" type="kinematics" respawn="false" output="screen" args="right">
</node>
</launch>
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