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Add one-shot launch file for gazebo initialization

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Cheolhui
2019-04-09 20:45:21 +09:00
committed by whikwon
parent 94c83d037e
commit 7ec5c23c4e
1 changed files with 52 additions and 0 deletions
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launch/open_manipulator_env.launch
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<?xml version="1.0"?>
<launch>
<!-- controller related args -->
<arg name="use_robot_name" default="open_manipulator"/>
<arg name="dynamixel_usb_port" default="/dev/ttyUSB0"/>
<arg name="dynamixel_baud_rate" default="1000000"/>
<arg name="control_period" default="0.010"/>
<arg name="use_platform" default="false"/>
<arg name="use_moveit" default="false"/>
<arg name="planning_group_name" default="arm"/>
<arg name="moveit_sample_duration" default="0.050"/>
<!-- 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"/>
<!-- controller related -->
<node name="$(arg use_robot_name)" pkg="open_manipulator_controller" type="open_manipulator_controller" output="screen" args="$(arg dynamixel_usb_port) $(arg dynamixel_baud_rate)">
<param name="using_platform" value="$(arg use_platform)"/>
<param name="using_moveit" value="$(arg use_moveit)"/>
<param name="planning_group_name" value="$(arg planning_group_name)"/>
<param name="control_period" value="$(arg control_period)"/>
<param name="moveit_sample_duration" value="$(arg moveit_sample_duration)"/>
</node>
<!-- 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>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.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>