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41 lines
2.2 KiB
XML
Executable file
41 lines
2.2 KiB
XML
Executable file
<launch>
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<arg name="rvizconfig" default="$(find myarm_m)/config/myarm_m_with_myarm_c650.rviz" />
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<arg name="gui" default="true" />
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<arg name="ns1" default="myarm_m" />
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<arg name="ns2" default="myarm_c650" />
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<!-- myarm_m -->
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<group ns="$(arg ns1)">
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(find mycobot_description)/urdf/myarm_m/myarm_m.urdf.xacro ns:=$(arg ns1)" />
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<!-- 关节控制gui -->
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<param name="use_gui" value="$(arg gui)" />
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</node>
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<!-- 发布tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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<param name="tf_prefix" value="$(arg ns1)" />
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</node>
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<!-- 设置map和机器人基座的坐标关系 -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="static_transform_publisher1" args="0 0.5 0 0 0 0 /map /$(arg ns1)/base" />
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</group>
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<!-- myarm_c650 -->
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<group ns="$(arg ns2)">
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(find mycobot_description)/urdf/myarm_c650/myarm_c650.urdf.xacro ns:=$(arg ns2)" />
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<!-- 关节控制gui -->
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<param name="use_gui" value="$(arg gui)" />
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</node>
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<!-- 发布tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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<param name="tf_prefix" value="$(arg ns2)" />
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</node>
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<!-- 设置map和机器人基座的坐标关系 -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="static_transform_publisher1" args="0 -0.5 0 0 0 0 /map /$(arg ns2)/base" />
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</group>
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<!-- Show in Rviz ，显示在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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