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<launch>
<arg name="epuck_address"/>
<arg name="epuck_name" default="epuck_robot_0"/>
<arg name="cam_en" default="false"/>
<arg name="acc_en" default="true"/>
<arg name="prox_en" default="true"/>
<arg name="mot_pos_en" default="true"/>
<arg name="light_en" default="true"/>
<arg name="floor_en" default="true"/>
<arg name="sel_en" default="true"/>
<arg name="mot_speed_en" default="true"/>
<arg name="mic_en" default="true"/>
<arg name="xpos" default="0.0"/>
<arg name="ypos" default="0.0"/>
<arg name="theta" default="0.0"/>
<arg name="is_single_robot" default="1" />
<node pkg="epuck_driver" type="epuck_driver.py" name="$(arg epuck_name)" output="screen" respawn="true">
<param name="epuck_address" value="$(arg epuck_address)"/>
<param name="epuck_name" value="$(arg epuck_name)"/>
<param name="camera" value="$(arg cam_en)"/>
<param name="accelerometer" value="$(arg acc_en)"/>
<param name="proximity" value="$(arg prox_en)"/>
<param name="motor_position" value="$(arg mot_pos_en)"/>
<param name="light" value="$(arg light_en)"/>
<param name="floor" value="$(arg floor_en)"/>
<param name="selector" value="$(arg sel_en)"/>
<param name="motor_speed" value="$(arg mot_speed_en)"/>
<param name="microphone" value="$(arg mic_en)"/>
<param name="xpos" value="$(arg xpos)"/>
<param name="ypos" value="$(arg ypos)"/>
<param name="theta" value="$(arg theta)"/>
</node>
<param name="robot_description" textfile="$(find epuck_driver)/urdf/epuck_urdf.xml"/>
<node name="epuck_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="tf_prefix" value="$(arg epuck_name)" />
</node>
<node if="$(arg is_single_robot)" pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find epuck_driver)/config/single_epuck_driver_rviz.rviz"/>
</launch>
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