geometric_simu_context.launch 1.57 KB
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<!-- -*-xml-*-
     Handle ROS simulation of the SoT.
  -->
<launch>
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  <arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
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  <arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
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   <!-- Load robot model. -->
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  <!--
  <param name="robot_description"
    textfile="$(find tiago_data)/robots/tiago_steel.urdf" />
  -->
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  <param name="robot_description"
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    command="$(find xacro)/xacro.py '$(find tiago_description)/robots/tiago.urdf.xacro' end_effector:=$(arg end_effector)"/>

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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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  <!-- Load robot sot params. -->
  <group ns="sot">
    <rosparam param="tf_base_link">base_footprint</rosparam>
  </group>
  <group ns="sot_controller">
    <rosparam param="dt">0.01</rosparam>
  </group>
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  <machine name="geometric_simu_machine"
    address="localhost" />

  <!--
     Read joint_states topic and publish link positions to tf.

     openhrp_bridge publishes encoder values to the joint_states topic
     therefore, this provide the most reliable way of identifying link
     relative position on HRP-2.
    -->
  <node name="robot_state_publisher"
	pkg="robot_state_publisher"
	type="state_publisher"
	respawn="true">
    <param name="tf_prefix" value="" />
  </node>


  <!-- Buffer Server -->
  <node pkg="tf2_ros" type="buffer_server"
	name="tf2_buffer_server" respawn="true">
    <param name="buffer_size" value="120.0"/>
  </node>
</launch>