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<launch>
<!-- Remember to first launch Gazebo with a underwater world model
Example:
>> roslaunch uuv_description ocean_waves.launch
or
>> roslaunch uuv_description empty_underwater_world.launch
The default joystick configuration is set for the XBox 360 controller
-->
<arg name="x" default="0"/>
<arg name="y" default="0"/>
<arg name="z" default="-20"/>
<arg name="yaw" default="0.0"/>
<arg name="joy_id" default="0"/>
<arg name="namespace" default="rexrov"/>
<!-- Default joystick mapping for controlling the vehicle (XBox 360 controller) -->
<arg name="axis_x" default="4"/>
<arg name="axis_y" default="3"/>
<arg name="axis_z" default="1"/>
<arg name="axis_yaw" default="0"/>
<arg name="vehicle_deadman_button" default="-1"/>
<arg name="vehicle_exclusion_buttons" default="4,5"/>
<!-- Default joystick mapping for the Oberon arm joint control (XBox 360 controller) -->
<arg name="axis_oberon_jc_azimuth" default="3"/>
<arg name="axis_oberon_jc_shoulder" default="4"/>
<arg name="axis_oberon_jc_elbow" default="1"/>
<arg name="axis_oberon_jc_roll" default="6"/>
<arg name="axis_oberon_jc_pitch" default="7"/>
<arg name="axis_oberon_jc_yaw" default="0"/>
<!-- Default joystick mapping for the Oberon 4 arm joint control (XBox 360 controller) -->
<arg name="axis_oberon4_azimuth" default="0"/>
<arg name="axis_oberon4_shoulder" default="1"/>
<arg name="axis_oberon4_wrist" default="3"/>
<arg name="oberon_home_button" default="7"/>
<arg name="oberon_exclusion_button" default="4"/>
<arg name="oberon_deadman_button" default="5"/>
<arg name="oberon4_exclusion_button" default="5"/>
<arg name="oberon4_deadman_button" default="4"/>
<arg name="gripper_open_button" default="1"/>
<arg name="gripper_close_button" default="2"/>
<include file="$(find uuv_descriptions)/launch/upload_rexrov_oberon_arms.launch">
<arg name="namespace" value="$(arg namespace)"/>
<arg name="x" value="$(arg x)"/>
<arg name="y" value="$(arg y)"/>
<arg name="z" value="$(arg z)"/>
<arg name="yaw" value="$(arg yaw)"/>
</include>
<include file="$(find uuv_thruster_manager)/launch/thruster_manager.launch">
<arg name="uuv_name" value="$(arg namespace)" />
<arg name="model_name" value="rexrov" />
</include>
<group ns="$(arg namespace)">
<rosparam file="$(find uuv_control_cascaded_pid)/config/rexrov/inertial.yaml" command="load"/>
<rosparam file="$(find uuv_control_cascaded_pid)/config/rexrov/vel_pid_control.yaml" command="load"/>
<node pkg="uuv_control_cascaded_pid" type="AccelerationControl.py" name="acceleration_control"
output="screen">
<param name="tf_prefix" type="string" value="$(arg namespace)/" />
</node>
<node pkg="uuv_control_cascaded_pid" type="VelocityControl.py" name="velocity_control"
output="screen">
<remap from="odom" to="/$(arg namespace)/pose_gt"/>
<remap from="cmd_accel" to="/$(arg namespace)/cmd_accel"/>
</node>
</group>
<include file="$(find uuv_teleop)/launch/uuv_teleop.launch">
<arg name="uuv_name" value="$(arg namespace)"/>
<arg name="joy_id" value="$(arg joy_id)"/>
<arg name="output_topic" value="cmd_vel"/>
<arg name="message_type" value="twist"/>
<arg name="axis_yaw" value="$(arg axis_yaw)"/>
<arg name="axis_x" value="$(arg axis_x)"/>
<arg name="axis_y" value="$(arg axis_y)"/>
<arg name="axis_z" value="$(arg axis_z)"/>
<arg name="deadman_button" value="$(arg vehicle_deadman_button)"/>
<arg name="exclusion_buttons" value="$(arg vehicle_exclusion_buttons)"/>
</include>
<include file="$(find oberon4_control)/launch/joint_control.launch">
<arg name="uuv_name" value="$(arg namespace)"/>
<arg name="arm_name" value="oberon4"/>
<!-- Arm will only move while the Y button (XBox 360 controller) is pressed -->
<arg name="deadman_button" default="$(arg oberon4_deadman_button)"/>
<!-- The arm will not move if the RB button (XBox 360 controller) is pressed -->
<arg name="exclusion_button" default="$(arg oberon4_exclusion_button)"/>
<arg name="home_button" value="$(arg oberon_home_button)"/>
<arg name="gripper_open_button" value="$(arg gripper_open_button)"/>
<arg name="gripper_close_button" value="$(arg gripper_close_button)"/>
<arg name="axis_azimuth" value="$(arg axis_oberon4_azimuth)"/>
<arg name="axis_shoulder" value="$(arg axis_oberon4_shoulder)"/>
<arg name="axis_wrist" value="$(arg axis_oberon4_wrist)"/>
</include>
<include file="$(find oberon7_control)/launch/joint_control.launch">
<arg name="uuv_name" value="$(arg namespace)"/>
<arg name="arm_name" value="oberon7"/>
<!-- Arm will only move while the RB button (XBox 360 controller) is pressed -->
<arg name="deadman_button" default="$(arg oberon_deadman_button)"/>
<!-- The arm will not move if the LB button (XBox 360 controller) is pressed -->
<arg name="exclusion_button" default="$(arg oberon_exclusion_button)"/>
<arg name="axis_azimuth" value="$(arg axis_oberon_jc_azimuth)"/>
<arg name="axis_shoulder" value="$(arg axis_oberon_jc_shoulder)"/>
<arg name="axis_elbow" value="$(arg axis_oberon_jc_elbow)"/>
<arg name="axis_roll" value="$(arg axis_oberon_jc_roll)"/>
<arg name="axis_pitch" value="$(arg axis_oberon_jc_pitch)"/>
<arg name="axis_yaw" value="$(arg axis_oberon_jc_yaw)"/>
<arg name="home_button" value="$(arg oberon_home_button)"/>
<arg name="gripper_open_button" value="$(arg gripper_open_button)"/>
<arg name="gripper_close_button" value="$(arg gripper_close_button)"/>
</include>
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find uuv_gazebo)/rviz/rexrov_default.rviz"/>
</launch>
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