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27 lines
1.1 KiB
XML
27 lines
1.1 KiB
XML
<launch>
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<arg name="port" default="/dev/ttyAMA0" />
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<arg name="baud" default="1000000" />
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<arg name="model" default="$(find mycobot_description)/urdf/mecharm_270_pi/mecharm_270_pi_aikit.urdf"/>
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<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.rviz" />
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<!-- <arg name="gui" default="false" /> -->
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
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<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
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</node>
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<!-- mecharm-topics -->
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<include file="$(find mecharm_communication)/launch/communication_topic_pi.launch">
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<arg name="port" value="$(arg port)" />
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<arg name="baud" value="$(arg baud)" />
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</include>
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<!-- listen and pub the real angles -->
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<node name="real_listener" pkg="mecharm_pi" type="listen_real_of_topic.py" />
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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