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Stack Of Tasks
talos-metapkg-ros-control-sot
Commits
9ebc5c04
Commit
9ebc5c04
authored
Sep 18, 2018
by
Joseph Mirabel
Committed by
Joseph Mirabel
Sep 18, 2018
Browse files
Fix geometric simu (use good robot and remove copied file.
parent
89e65209
Changes
2
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sot_pyrene_bringup/launch/geometric_simu_context.launch
View file @
9ebc5c04
...
...
@@ -10,7 +10,7 @@
<!-- Load robot model. -->
<param
name=
"robot_description"
textfile=
"$(find talos_data)/urdf/talos_reduced.urdf"
/>
textfile=
"$(find talos_data)/urdf/talos_reduced
_v2
.urdf"
/>
<!-- Load robot sot params. -->
...
...
@@ -18,8 +18,7 @@
file=
"$(find sot_pyrene_bringup)/sot/pyrene.yaml"
/>
<machine
name=
"geometric_simu_machine"
address=
"localhost"
>
</machine >
address=
"localhost"
/>
<!--
Read joint_states topic and publish link positions to tf.
...
...
sot_pyrene_bringup/launch/geometric_simu_pyrene.launch
deleted
100644 → 0
View file @
89e65209
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg
name=
"robot"
default=
"pyrene"
/>
<arg
name=
"libsot"
default=
"libsot-pyrene-controller.so"
/>
<include
file=
"$(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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