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puppet_sim.launch
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puppet_sim.launch
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<launch>
<!-- define all args -->
<arg name="vis" default="false" doc="if true, we will start rviz"/>
<arg name="legs" default="false" doc="if true, add controls for the puppet's knees"/>
<arg name="shoulders" default="false" doc="if true, independently control each of the shoulders"/>
<!-- set all parameters -->
<param name="rate" value="30" />
<param name="robot_description" textfile="$(find trep_puppet_demo)/urdf/manual_puppet.urdf" />
<param name="legs" value="$(arg legs)" />
<param name="shoulders" value="$(arg shoulders)" />
<!-- launch puppet state nodes -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<!-- launch puppet simulator -->
<node name="puppet_simulator" pkg="trep_puppet_demo" type="puppet_simulator.py"
output="screen" respawn="true" />
<!-- launch the marker control node -->
<node name="marker_controls" pkg="trep_puppet_demo" type="interactive_marker_controls.py"
output="screen" respawn="true" />
<!-- launch the keyboard interface -->
<node name="keyboard_interface" pkg="trep_puppet_demo" type="keyboard_interface"
output="screen" respawn="true" launch-prefix="xterm -e"/>
<!-- launch rviz -->
<group if="$(arg vis)">
<node pkg="rviz" type="rviz" respawn="false" name="rviz"
args="-d $(find trep_puppet_demo)/launch/puppet_sim_view.rviz" />
</group>
</launch>