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add kinect_base

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This commit is contained in:
zhangwanjie 2021-04-05 10:27:29 +08:00
parent fc0c03ddb7
commit 6174ccaf81
1 changed files with 28 additions and 0 deletions
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wpb_home_bringup/launch/kinect_base.launch Normal file
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/sensor.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node if="$(arg gui)" name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>
<node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<!--- Run Kinect -->
<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch" />
<!-- wpb_home core-->
<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
<param name="serial_port" type="string" value="/dev/ftdi"/>
<rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
</node>
</launch>