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add the launch file of m5

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2929ss 2022-07-01 18:25:10 +08:00
parent ada5e77323
commit d91238995a
2 changed files with 27 additions and 0 deletions
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27
mycobot_ai/myPalletizer_260/launch/vision_m5.launch Normal file
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<launch>
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260_aikit.urdf"/>
<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
<!-- <arg name="gui" default="false" /> -->
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<!-- mypalletizer-topics -->
<include file="$(find mypalletizer_communication)/launch/communication_topic.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles -->
<node name="real_listener" pkg="mypalletizer_260" type="listen_real_of_topic.py" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

0
mycobot_ai/myPalletizer_260/launch/vision.launch → mycobot_ai/myPalletizer_260/launch/vision_pi.launch
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