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imporve launch

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zachary 2021-04-27 19:21:19 +08:00
parent a89b7146e4
commit b9ec1fb3d9
3 changed files with 12 additions and 17 deletions
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10
launch/control.launch
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@ -1,10 +0,0 @@
<launch>
<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="true"/>
</node>
</launch>

10
launch/control_slider.launch
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@ -1,14 +1,18 @@
<launch>
<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="true"/>
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<!-- Open control script -->
<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/>
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

9
launch/mycobot.launch
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@ -1,10 +1,11 @@
<launch>
<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>