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<launch>
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find dsr_control)/config/console.conf"/>
<arg name="ns" default="dsr01"/>
<arg name="host" default="127.0.0.1"/>
<arg name="port" default="12345"/>
<arg name="mode" default="virtual"/>
<arg name="model" default="m1013"/>
<arg name="color" default="white"/>
<arg name="gripper" default="none"/>
<arg name="mobile" default="none"/>
<arg name="yaml" default="dsr_control"/>
<!-- dsr controller 로드 -->
<rosparam file="$(find dsr_control)/config/dsr_control.yaml" command="load" ns="$(arg ns)"/>
<!-- trajectory controller, joint_state 실행 -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="$(arg ns)" args="dsr_joint_trajectory_controller dsr_joint_publisher"/>
<!-- moveit은 멀티 arm이 안되므로 model은 참조용으로 사용 -->
<node pkg="dsr_control" type="dsr_control_node" name="$(arg ns)" respawn="false" output="screen" >
<param name="name" value="$(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)" />
</node>
<!-- model에 따른 moveit 실행 -->
<group if="$(eval arg('model') == 'm0609')">
<include file="$(find moveit_config_m0609)/launch/m0609.launch" ns="$(arg ns)">
<arg name="fake_execution" value="false"/>
<arg name="color" value="$(arg color)"/>
</include>
</group>
<group if="$(eval arg('model') == 'm0617')">
<include file="$(find moveit_config_m0617)/launch/m0617.launch" ns="$(arg ns)">
<arg name="fake_execution" value="false"/>
<arg name="color" value="$(arg color)"/>
</include>
</group>
<group if="$(eval arg('model') == 'm1013')">
<include file="$(find moveit_config_m1013)/launch/m1013.launch" ns="$(arg ns)">
<arg name="fake_execution" value="false"/>
<arg name="color" value="$(arg color)"/>
</include>
</group>
<group if="$(eval arg('model') == 'm1509')">
<include file="$(find moveit_config_m1509)/launch/m1509.launch" ns="$(arg ns)">
<arg name="fake_execution" value="false"/>
<arg name="color" value="$(arg color)"/>
</include>
</group>
</launch>
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