forked from cmower/ros_pybullet_interface
/
basic_example_nextage.launch
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/
basic_example_nextage.launch
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<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find nextagea_description)/urdf/nextagea.urdf.xacro"/>
<!-- ROS-Pybullet interface -->
<node pkg="ros_pybullet_interface" name="ros_pybullet_interface" type="ros_pybullet_interface_node.py" output="screen">
<rosparam param="config" file="$(find rpbi_examples)/configs/basic_example_nextage/config.yaml"/>
</node>
<!-- Static transforms -->
<node pkg="tf2_ros" type="static_transform_publisher" name="floor_tf" args="0 0 0 0 0 0 rpbi/world rpbi/floor"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="camera_tf" args="0.08 0 0.20 -0.6533061 0.6532653 -0.2706083 0.2705674 rpbi/nextage/HEAD_JOINT1_Link rpbi/camera"/>
<!-- Controls -->
<!-- <node pkg="rpbi_utils" name="controls" type="rpbi_controls_node.py" output="screen"/> -->
<!-- Example node that generates target joint positions -->
<node pkg="rpbi_examples" name="example" type="basic_robot_example_node.py" args="nextage" output="screen"/>
<node pkg="tf2_ros"
type="static_transform_publisher"
name="table_broadcaster" args="0.65 0. 0.8 0 0 0 rpbi/world rpbi/table" />
</launch>