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https://github.com/elephantrobotics/mycobot_ros.git
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24 lines
1.2 KiB
XML
24 lines
1.2 KiB
XML
<launch>
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<!-- Select connecting device and serial port ，选择连接设备及串口-->
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
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<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.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,将值合并到 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 $(arg rvizconfig)" required="true" />
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<!-- mycobot-topics, mycobot-话题-->
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<include file="$(find mypalletizer_communication)/launch/communication_service.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 ，监听并发布真实角度-->
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<node name="real_listener" pkg="mypalletizer_260" type="listen_real.py" />
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<node name="simple_gui" pkg="mypalletizer_260" type="simple_gui.py" />
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</launch>
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