controller.launch 1.18 KB
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<launch>
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  <arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
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  <arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
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  <arg name="simulation" default="false"/>
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  <param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
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  <include file="$(find sot_tiago_bringup)/launch/sot_params.launch">
    <arg name="end_effector" value="$(arg end_effector)"/>
    <arg name="use_mobile_base" value="$(arg use_mobile_base)"/>
  </include>


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  <!-- Sot Controller configuration -->
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  <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_params.yaml"/>
  <rosparam if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_params_mobile_base.yaml"/>
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  <rosparam if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
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  <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/controller.yaml" />
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  <!-- Spawn walking controller -->
  <node name="sot_controller_spawner"
        pkg="controller_manager" type="spawner" output="screen"
        args="sot_controller" />

</launch>