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Stack Of Tasks
tiago_metapkg_ros_control_sot
Commits
b82cabc5
Commit
b82cabc5
authored
Mar 30, 2020
by
Joseph Mirabel
Committed by
olivier stasse
Apr 03, 2020
Browse files
Add option end_effector to geometric_simu
parent
33cfb63a
Changes
2
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sot_tiago_bringup/launch/geometric_simu.launch
View file @
b82cabc5
...
...
@@ -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)"
/>
...
...
sot_tiago_bringup/launch/geometric_simu_context.launch
View file @
b82cabc5
...
...
@@ -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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