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fixing indentation automatically for all launch files using tidy
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,10 @@ | ||
| <launch> | ||
| <group if="$(optenv MUSCLE 0)"> | ||
| <param name="sa_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_arm_muscle.urdf.xacro'" /> | ||
| <param name="sa_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_arm_muscle.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv MUSCLE 0)"> | ||
| <param name="sa_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_arm_motor.urdf.xacro'" /> | ||
| <param name="sa_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_arm_motor.urdf.xacro'" /> | ||
| </group> | ||
|
|
||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,45 +1,54 @@ | ||
| <launch> | ||
| <arg name="robot_param" default="sh_description" /> | ||
|
|
||
| <group if="$(optenv MUSCLE 0)"> | ||
| <group if="$(optenv LEFT_HAND 0)"> | ||
| <param name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_muscle.urdf.xacro'" /> | ||
| <param name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_muscle.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv LEFT_HAND 0)"> | ||
| <param if="$(optenv BIOTAC_HAND 0)" name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_muscle_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_muscle.urdf.xacro'" /> | ||
| <param if="$(optenv BIOTAC_HAND 0)" name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_muscle_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" | ||
| name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_muscle.urdf.xacro'" /> | ||
| </group> | ||
| </group> | ||
|
|
||
| <group unless="$(optenv MUSCLE 0)"> | ||
| <group if="$(optenv ONE_FINGER 0)"> | ||
| <param name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_one_finger_motor.urdf.xacro'" /> | ||
| <param name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_one_finger_motor.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv ONE_FINGER 0)"> | ||
| <group if="$(optenv LEFT_HAND 0)"> | ||
| <param name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro'" /> | ||
| <param name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv LEFT_HAND 0)"> | ||
| <group if="$(optenv THREE_FINGER 0)"> | ||
| <param name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_three_finger_motor.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv THREE_FINGER 0)"> | ||
| <group if="$(optenv ELLIPSOID 0)"> | ||
| <param name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor_ellipsoid.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv ELLIPSOID 0)"> | ||
| <group if="$(optenv THREE_FINGER 0)"> | ||
| <param name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_three_finger_motor.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv THREE_FINGER 0)"> | ||
| <group if="$(optenv ELLIPSOID 0)"> | ||
| <param name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor_ellipsoid.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv ELLIPSOID 0)"> | ||
| <group if="$(optenv FF_BIOTAC 0)"> | ||
| <param name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor_ff_biotac.urdf.xacro'" /> | ||
| <param name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor_ff_biotac.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv FF_BIOTAC 0)"> | ||
| <param if="$(optenv BIOTAC_HAND 0)" name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" name="$(arg robot_param)" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor.urdf.xacro'" /> | ||
| <param if="$(optenv BIOTAC_HAND 0)" | ||
| name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" | ||
| name="$(arg robot_param)" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor.urdf.xacro'" /> | ||
| </group> | ||
| </group> | ||
| </group> | ||
| </group> | ||
| </group> | ||
| </group> | ||
| </group> | ||
| </group> | ||
|
|
||
|
|
||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| <launch> | ||
| <param name="support_description" command="$(find xacro)/xacro.py '$(find sr_description)/other/xacro/desk/desk_robot.urdf.xacro'" /> | ||
| <param name="support_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/other/xacro/desk/desk_robot.urdf.xacro'" /> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,40 +1,48 @@ | ||
| <launch> | ||
|
|
||
| <!-- spawn the arm and model --> | ||
| <!-- spawn the arm and model --> | ||
| <group if="$(optenv MUSCLE 0)"> | ||
| <param if="$(optenv BIOTAC_HAND 0)" name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_muscle_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_muscle.urdf.xacro'" /> | ||
| </group> | ||
| <param if="$(optenv BIOTAC_HAND 0)" name="robot_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_muscle_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" | ||
| name="robot_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_muscle.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv MUSCLE 0)"> | ||
| <group if="$(optenv ONE_FINGER 0)"> | ||
| <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_sr_one_finger_motor.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv ONE_FINGER 0)"> | ||
| <group if="$(optenv THREE_FINGER 0)"> | ||
| <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_three_finger.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv THREE_FINGER 0)"> | ||
| <group if="$(optenv ELLIPSOID 0)"> | ||
| <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_ellipsoid.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv ELLIPSOID 0)"> | ||
| <param if="$(optenv BIOTAC_HAND 0)" name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor.urdf.xacro'" /> | ||
| </group> | ||
| </group> | ||
| </group> | ||
| <group if="$(optenv ONE_FINGER 0)"> | ||
| <param name="robot_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_sr_one_finger_motor.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv ONE_FINGER 0)"> | ||
| <group if="$(optenv THREE_FINGER 0)"> | ||
| <param name="robot_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_three_finger.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv THREE_FINGER 0)"> | ||
| <group if="$(optenv ELLIPSOID 0)"> | ||
| <param name="robot_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_ellipsoid.urdf.xacro'" /> | ||
| </group> | ||
| <group unless="$(optenv ELLIPSOID 0)"> | ||
| <param if="$(optenv BIOTAC_HAND 0)" | ||
| name="robot_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_biotac.urdf.xacro'" /> | ||
| <param unless="$(optenv BIOTAC_HAND 0)" | ||
| name="robot_description" | ||
| command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor.urdf.xacro'" /> | ||
| </group> | ||
| </group> | ||
| </group> | ||
| </group> | ||
|
|
||
| <!-- publish joint values, open gui if use_gui=True --> | ||
| <node name="joint_publisher" | ||
| pkg="joint_state_publisher" type="joint_state_publisher"> | ||
| <param name="use_gui" value="True"/> | ||
| </node> | ||
| <!-- publish transforms of all robot links --> | ||
| <node name="state_publisher" | ||
| pkg="robot_state_publisher" type="state_publisher"> | ||
| <param name="publish_frequency" type="double" value="10.0"/> | ||
| </node> | ||
| <node pkg="rviz" type="rviz" name="rviz" args="-d $(find sr_description)/test/arm_and_hand_test.rviz" /> | ||
| <!-- publish joint values, open gui if use_gui=True --> | ||
| <node name="joint_publisher" pkg="joint_state_publisher" | ||
| type="joint_state_publisher"> | ||
| <param name="use_gui" value="True" /> | ||
| </node> | ||
| <!-- publish transforms of all robot links --> | ||
| <node name="state_publisher" pkg="robot_state_publisher" | ||
| type="state_publisher"> | ||
| <param name="publish_frequency" type="double" value="10.0" /> | ||
| </node> | ||
| <node pkg="rviz" type="rviz" name="rviz" | ||
| args="-d $(find sr_description)/test/arm_and_hand_test.rviz" /> | ||
| </launch> | ||
|
|
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