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<?xml version="1.0"?>
<launch>
<arg name="ns" default="dsr"/>
<arg name="host" default="127.0.0.1"/>
<arg name="port" default="12345"/>
<arg name="mode" default="virtual"/>
<arg name="model" default="m1013"/>
<arg name="color" default="color"/>
<arg name="gripper" default="none"/>
<arg name="mobile" default="none"/>
<arg name="yaml" default="dsr_control"/>
<!-- 제어기를 위한 position_controller, joint_state 정의 -->
<rosparam command="load" file="$(find dsr_control)/config/$(arg yaml).yaml" ns="$(arg ns)$(arg model)" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen"
args="dsr_joint_position_controller dsr_joint_publisher" ns="$(arg ns)$(arg model)">
</node>
<!--node pkg="dsr_control" type="run.sh" name="foo"/-->
<!--node pkg="aliencontrol" type="aliencontrol" name="aliencontrol"-->
<!--param name="cmd" value="run.sh"/-->
<!--param name="cmd" value="xterm -e top"/-->
<!--param name="cmd" value="xterm -e hello"/-->
<!--/node-->
<node pkg="dsr_control" type="dsr_control_node" name="$(arg ns)$(arg model)" respawn="false" output="screen">
<param name="name" value="$(arg ns)" />
<param name="rate" value="10" />
<param name="standby" value="5000" />
<param name="command" value="true" />
<param name="host" value="$(arg host)" />
<param name="port" value="$(arg port)"/>
<param name="mode" value="$(arg mode)" />
<param name="model" value="$(arg model)" />
<param name="gripper" value="$(arg gripper)"/>
<param name="mobile" value="$(arg mobile)" />
<!--gazebo를 위한 joint position 명령-->
<remap from="/dsr_joint_position_controller/command" to="/$(arg ns)/dsr_joint_position_controller/command" />
</node>
</launch>
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