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https://github.com/6-robot/wpb_home.git
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29 lines
1.3 KiB
XML
29 lines
1.3 KiB
XML
<launch>
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
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<arg name="gui" default="true" />
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<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/sensor.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node if="$(arg gui)" name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >
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<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
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</node>
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<node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
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<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
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</node>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!--- Run Kinect -->
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<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch" />
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<!-- wpb_home core-->
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<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
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<param name="serial_port" type="string" value="/dev/ftdi"/>
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<rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
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</node>
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</launch>
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