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@nomumu @gbiggs @ShotaAk
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<launch>
<!-- USB port name for dynamixel_port -->
<arg name="port" default="/dev/ttyUSB0" />
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find crane_x7_description)/urdf/crane_x7.urdf.xacro'"
/>
<group ns="crane_x7">
<rosparam file="$(find crane_x7_control)/config/crane_x7_control.yaml" command="load"/>
<param name="dynamixel_port/port_name" value="$(arg port)"/>
<node name="controller_manager"
pkg="controller_manager"
type="spawner" respawn="false"
output="screen"
args="joint_state_controller
arm_controller
gripper_controller"/>
<node name="crane_x7_control" pkg="crane_x7_control" type="crane_x7_control" output="screen" respawn="false">
<!-- <param name="config_ns" value="/crane_x7"/> -->
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" respawn="false" output="screen">
<remap from="/joint_states" to="/crane_x7/joint_states" />
</node>
</group>
</launch>
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