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Merge branch 'master' into feat/demo_refactoring

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Whi Kwon
2019-08-17 14:21:55 +09:00
committed by GitHub
parent 2127ec5330 055d97661e
commit 4c300129d6
15 changed files with 745 additions and 24 deletions
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launch/open_manipulator_cam_env.launch
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<?xml version="1.0"?>
<launch>
<!-- gazebo related args -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- robot URDF parse args -->
<arg name="om_urdf" value="robot_description"/>
<arg name="urdf_param" default="/robot_description"/>
<param name="$(arg om_urdf)" textfile="$(find kair_algorithms)/urdf/open_manipulator_cam.urdf.xacro"/>
<arg name="load_robot_description" default="false"/>
<!-- gazebo related -->
<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!--KDL chain related args-->
<param if="$(arg load_robot_description)" name="$(arg urdf_param)" command="$(find xacro)/xacro --inorder $(find kair_algorithms)/urdf/om.urdf"/>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find kair_algorithms)/urdf/open_manipulator_cam.urdf.xacro'"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
<!-- ros_control robotis manipulator launch file -->
<include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>
</launch>