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https://github.com/elephantrobotics/mycobot_ros.git
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23 lines
1,017 B
XML
23 lines
1,017 B
XML
<launch>
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<!-- Select connecting device and IP port-->
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<arg name="ip" default="192.168.0.232" />
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<arg name="port" default="4500" />
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_450/mycobot_pro_450.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_pro_450)/config/mycobot_pro_450.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="robot_state_publisher" />
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<!-- Show in Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<include file="$(find mycobot_pro450_communication)/launch/communication_topic.launch">
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<arg name="ip" value="$(arg ip)" />
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<arg name="port" value="$(arg port)" />
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</include>
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<!-- listen and pub the real angles-->
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<node name="real_listener" pkg="mycobot_pro_450" type="listen_real_of_topic.py" />
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</launch>
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