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hironx_ros_bridge_simulation.launch
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hironx_ros_bridge_simulation.launch
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<launch>
<arg name="GUI" default="true" />
<arg name="corbaport" default="15005" />
<arg name="MODEL_FILE" default="$(find hironx_ros_bridge)/models/kawada-hironx.dae" />
<arg name="CONF_FILE" default="$(find hironx_ros_bridge)/conf/kawada-hironx.conf" />
<arg name="CONF_FILE_COLLISIONDETECT" default="$(find hironx_ros_bridge)/conf/kawada-hironx.conf" />
<!-- Set model file to parameter server -->
<param name="hironx/collada_model_filepath" value="$(arg MODEL_FILE)" />
<include file="$(find hironx_ros_bridge)/launch/hironx_startup.launch" >
<arg name="GUI" default="$(arg GUI)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
</include>
<include file="$(find hironx_ros_bridge)/launch/hironx_ros_bridge.launch" >
<arg name="nameserver" value="localhost" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="SIMULATOR_NAME" value="HiroNX(Robot)0" />
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="CONF_FILE_COLLISIONDETECT" value="$(arg CONF_FILE_COLLISIONDETECT)" />
</include>
</launch>