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add 280 m5、pi pump and camera launch file

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wangWking 2023-11-08 11:14:52 +08:00
parent c4a9a42c13
commit 747aefd95b
4 changed files with 98 additions and 0 deletions
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25
mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch Normal file
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<launch>
<!-- <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" /> -->
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

24
mycobot_280/mycobot_280/launch/slider_control_pump.launch Normal file
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<launch>
<!-- <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" /> -->
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

25
mycobot_280/mycobot_280pi/launch/slider_control_camera_flange.launch Normal file
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<launch>
<!-- <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" /> -->
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_camera_flange.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

24
mycobot_280/mycobot_280pi/launch/slider_control_pump.launch Normal file
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<launch>
<!-- <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" /> -->
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_pump.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>