Commit 9ebc5c04 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Fix geometric simu (use good robot and remove copied file.

parent 89e65209
......@@ -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="$(find sot_pyrene_bringup)/sot/pyrene.yaml" />
<machine name="geometric_simu_machine"
address="localhost">
</machine >
address="localhost" />
<!--
Read joint_states topic and publish link positions to tf.
......
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg name="robot" default="pyrene" />
<arg name="libsot" default="libsot-pyrene-controller.so" />
<include file="$(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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