Commit 15b351e8 authored by Jan Koniarik's avatar Jan Koniarik
Browse files

updated to actual launch fileS

parent 39ba3c88
<launch>
<include file="$(find schpin_tote)/launch/robot_description.launch"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<node machine="robot" name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node machine="robot" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<rosparam>rate: 50
source_list:
- /control/leg/rl/joint_states
......@@ -11,7 +10,7 @@ source_list:
- /control/gimbal/joint_states
</rosparam>
</node>
<node name="control" output="screen" pkg="schpin_control" respawn="true" type="pwm_joints">
<node machine="robot" name="control" pkg="schpin_control" respawn="true" type="pwm_joints">
<rosparam ns="leg/rl/femur">angle_center: 0
angle_max: 1.3089969389957472
angle_min: -1.3089969389957472
......@@ -243,5 +242,5 @@ leg/rr/tibia_joint_position_controller:
type: position_controllers/JointPositionController
</rosparam>
</node>
<node args="leg/rr/coxa_joint_position_controller gimbal/yaw_joint_position_controller leg/fr/tibia_joint_position_controller leg/rl/tibia_joint_position_controller leg/fl/coxa_joint_position_controller leg/rr/femur_joint_position_controller leg/fl/femur_joint_position_controller leg/fr/femur_joint_position_controller leg/fr/coxa_joint_position_controller joint_state_controller leg/fl/tibia_joint_position_controller leg/rl/coxa_joint_position_controller leg/rl/femur_joint_position_controller gimbal/pitch_joint_position_controller leg/rr/tibia_joint_position_controller" name="controller_spawner" ns="control" output="screen" pkg="controller_manager" respawn="false" type="spawner"/>
<node args="leg/rr/coxa_joint_position_controller gimbal/yaw_joint_position_controller leg/fr/tibia_joint_position_controller leg/rl/tibia_joint_position_controller leg/fl/coxa_joint_position_controller leg/rr/femur_joint_position_controller leg/fl/femur_joint_position_controller leg/fr/femur_joint_position_controller leg/fr/coxa_joint_position_controller joint_state_controller leg/fl/tibia_joint_position_controller leg/rl/coxa_joint_position_controller leg/rl/femur_joint_position_controller gimbal/pitch_joint_position_controller leg/rr/tibia_joint_position_controller" machine="robot" name="controller_spawner" ns="control" output="screen" pkg="controller_manager" respawn="false" type="spawner"/>
</launch>
<launch>
<machine address="$(env MASTER_ADDRESS)" name="master"/>
<machine address="$(env ROBOT_ADDRESS)" default="true" name="robot" user="$(env ROBOT_USER)" env-loader="~/setup.bash"/>
<include file="$(find schpin_tote)/launch/robot_description.launch"/>
</launch>
<launch>
<include file="$(find schpin_tote)/launch/general.launch"/>
<include file="$(find schpin_tote)/launch/control_layer.launch"/>
<include file="$(find schpin_tote)/launch/user_layer.launch"/>
</launch>
<launch>
<node machine="master" name="$(anon rviz)" pkg="rviz" type="rviz"/>
<node machine="master" name="$(anon rqt)" pkg="rqt" type="rqt"/>
</launch>
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