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https://github.com/elephantrobotics/mycobot_ros.git
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28 lines
1.3 KiB
XML
28 lines
1.3 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/ttyAMA0" />
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<arg name="baud" default="1000000" />
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<!-- Load file model ，加载文件模型-->
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<!-- <arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mycobot_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> -->
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<arg name="model" default="$(find mycobot_description)/urdf/mecharm_pi/mecharm_pi.urdf"/>
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<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.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 mecharm_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 ，监听并发布真实话题-->
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<node name="real_listener" pkg="mecharm_pi" type="listen_real.py" />
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</launch>
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