Commit b82cabc5 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse
Browse files

Add option end_effector to geometric_simu

parent 33cfb63a
......@@ -6,10 +6,12 @@
<arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
<arg name="robot" default="tiago" />
<arg name="libsot" default="libsot-tiago-steel-controller.so" />
<arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
<arg name="sot-launch-prefix" default="" />
<include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch" >
<include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch">
<arg name="end_effector" value="$(arg end_effector)"/>
</include>
<param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
......
......@@ -2,11 +2,16 @@
Handle ROS simulation of the SoT.
-->
<launch>
<!-- BTW we are in simulation ? -->
<arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
<!-- Load robot model. -->
<!--
<param name="robot_description"
textfile="$(find tiago_data)/robots/tiago_steel.urdf" />
-->
<param name="robot_description"
textfile="$(find tiago_data)/robots/tiago_steel.urdf" />
command="$(find xacro)/xacro.py '$(find tiago_description)/robots/tiago.urdf.xacro' end_effector:=$(arg end_effector)"/>
<!-- Load robot sot params. -->
......
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