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23 lines
1 KiB
XML
Executable file
23 lines
1 KiB
XML
Executable file
<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/ttyAMA0" />
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<arg name="baud" default="115200" />
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<arg name="model" default="$(find mycobot_description)/urdf/myarm/myarm_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find myarm)/config/myarm.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 ，显示在Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<include file="$(find myarm_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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<node name="real_listener" pkg="myarm" type="listen_real.py" />
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<node name="simple_gui" pkg="myarm" type="simple_gui.py" />
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</launch>
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