Commit 782ad0ca authored by Olivier Stasse's avatar Olivier Stasse

Add geometric_simu_pyrene.launch

parent ead8c64f
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="pyrene" />
<arg name="libsot" default="libsot-pyrene-controller.so" />
<include file="$(find sot_talos_bringup)/launch/geometric_simu_context.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="libsot" value="$(arg libsot)" />
</include>
<!-- Load Stack of Tasks. -->
<node machine="geometric_simu_machine"
name="node_stack_of_tasks"
pkg="dynamic_graph_bridge"
type="geometric_simu"
args=" --input-file $(arg libsot)"
respawn="true">
<param name="/sot/dg/geometric_simu" value="" />
</node>
</launch>
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