Commit c27d06e5 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse

Improve display_sot.launch

parent e6b6a283
......@@ -2,17 +2,23 @@
<arg name="input_topic" default="/sot_hpp/state"/>
<arg name="output_prefix" default="/sot"/>
<arg name="rviz" default="false"/>
<arg name="publish_root" default="true"/>
<node pkg="roscontrol_sot_talos" name="republish" type="republish" args="$(arg input_topic) $(arg output_prefix)/joint_state true"/>
<node pkg="roscontrol_sot_talos" name="$(anon republish)" type="republish" args="$(arg input_topic) $(arg output_prefix)/joint_state $(arg publish_root)"/>
<node pkg="tf" type="static_transform_publisher"
name="base_link_broadcaster"
args="0 0 0 0 0 0 1 odom $(arg output_prefix)/odom 100" />
name="$(anon base_link_broadcaster)"
args="0 0 0 0 0 0 1 odom $(arg output_prefix)/odom 100"
if="$(arg publish_root)" />
<node pkg="tf" type="static_transform_publisher"
name="$(anon base_link_broadcaster)"
args="0 0 0 0 0 0 1 odom $(arg output_prefix)/base_link 100"
unless="$(arg publish_root)" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" >
<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(anon rob_st_pub)" >
<remap from="/joint_states" to="$(arg output_prefix)/joint_state" />
<param name="tf_prefix" value="$(arg output_prefix)" />
</node>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" />
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" />
</launch>
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