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21 lines
892 B
XML
21 lines
892 B
XML
<launch>
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<arg name="PORT" default="/dev/ttyUSB0" />
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<arg name="BAUD" default="115200" />
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<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.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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<!-- 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 myCobotROS)/launch/communication_service.launch">
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<param name="port" type="string" value="$(arg PORT)" />
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<param name="baud" type="int" value="$(arg BAUD)" />
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</include>
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<node name="real_listener" pkg="myCobotROS" type="listen_real.py" />
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</launch>
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