From d91238995aec2952271f68d665d9da49f7966a66 Mon Sep 17 00:00:00 2001
From: 2929ss <1814754095@qq.com>
Date: Fri, 1 Jul 2022 18:25:10 +0800
Subject: [PATCH] add the launch file of m5

---
 .../myPalletizer_260/launch/vision_m5.launch  | 27 +++++++++++++++++++
 .../{vision.launch => vision_pi.launch}       |  0
 2 files changed, 27 insertions(+)
 create mode 100644 mycobot_ai/myPalletizer_260/launch/vision_m5.launch
 rename mycobot_ai/myPalletizer_260/launch/{vision.launch => vision_pi.launch} (100%)

diff --git a/mycobot_ai/myPalletizer_260/launch/vision_m5.launch b/mycobot_ai/myPalletizer_260/launch/vision_m5.launch
new file mode 100644
index 0000000..7df70e1
--- /dev/null
+++ b/mycobot_ai/myPalletizer_260/launch/vision_m5.launch
@@ -0,0 +1,27 @@
+<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>
diff --git a/mycobot_ai/myPalletizer_260/launch/vision.launch b/mycobot_ai/myPalletizer_260/launch/vision_pi.launch
similarity index 100%
rename from mycobot_ai/myPalletizer_260/launch/vision.launch
rename to mycobot_ai/myPalletizer_260/launch/vision_pi.launch