Commit 4d0a9dbf authored by Jan Koniarik's avatar Jan Koniarik
Browse files

added launch files into git repository

parent 644863c0
<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">
<rosparam>rate: 50
source_list: [/dev/leg/rl/joint_states, /dev/leg/fr/joint_states, /dev/leg/fl/joint_states,
/dev/leg/rr/joint_states, /dev/gimbal/joint_states]
</rosparam>
</node>
<group ns="dev">
<group ns="leg">
<group ns="rl">
<node name="coxa" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/rl/coxa"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="6"/>
<param name="update_freq" value="50"/>
</node>
<node name="femur" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/rl/femur"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="7"/>
<param name="update_freq" value="50"/>
</node>
<node name="tibia" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/rl/tibia"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="8"/>
<param name="update_freq" value="50"/>
</node>
</group>
<group ns="fr">
<node name="coxa" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/fr/coxa"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="3"/>
<param name="update_freq" value="50"/>
</node>
<node name="femur" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/fr/femur"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="4"/>
<param name="update_freq" value="50"/>
</node>
<node name="tibia" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/fr/tibia"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="5"/>
<param name="update_freq" value="50"/>
</node>
</group>
<group ns="fl">
<node name="coxa" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/fl/coxa"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="0"/>
<param name="update_freq" value="50"/>
</node>
<node name="femur" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/fl/femur"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="1"/>
<param name="update_freq" value="50"/>
</node>
<node name="tibia" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/fl/tibia"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="2"/>
<param name="update_freq" value="50"/>
</node>
</group>
<group ns="rr">
<node name="coxa" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/rr/coxa"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="9"/>
<param name="update_freq" value="50"/>
</node>
<node name="femur" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/rr/femur"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="10"/>
<param name="update_freq" value="50"/>
</node>
<node name="tibia" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="leg/rr/tibia"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="11"/>
<param name="update_freq" value="50"/>
</node>
</group>
</group>
<group ns="gimbal">
<node name="yaw" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="cam/yaw"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="12"/>
<param name="update_freq" value="50"/>
</node>
<node name="pitch" pkg="schpin_dev" respawn="true" type="pwm_servo_joint.py">
<param name="angle_min" value="-1.308996939"/>
<param name="joint_state_topic" value="joint_states"/>
<param name="angle_max" value="1.308996939"/>
<param name="controller_topic" value="/hw/controller_topic"/>
<param name="pulse_max" value="2100"/>
<param name="pulse_min" value="900"/>
<param name="reverse" value="False"/>
<param name="tf_frame" value="cam/pitch"/>
<param name="default_post" value="0"/>
<param name="velocity" value="10.471975512"/>
<param name="channel" value="13"/>
<param name="update_freq" value="50"/>
</node>
</group>
</group>
</launch>
<launch>
<node name="fl_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
mirror: [1, 0, 0]
pos: [0.055, 0.025, 0]
rot: [0, 0, -0.5235987755982988]
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}
axis: [0, 0, 1]
axle: &amp;id002 {diameter: 0.0048200000000000005, height: 0.0039, screw_diameter: 0.002}
frame: &amp;id003 {length: 0.0322, thickness: 0.0024500000000000004, v_offset: 0.016}
gimbal_vector: &amp;id004 [-0.00585, 0.0125, -0.01705]
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: &amp;id005
center_offset: {x: 0.00625, y: 0.002325}
diameter: 0.002
slot: 1
running_current: 0.22
servo: &amp;id006 {height: 0.0229, length: 0.0229, width: 0.0125}
stall_current: 0.65
turret: &amp;id007
diameter: 0.011699999999999999
height: 0.0052
margin: {x: 0.0004000000000000002, y: 0.0112}
mass: 0.03
mass_center: [0, 0.01, -0.005]
next_segment: femur
pos: [0, 0, 0]
rot: [0, 0, 0]
scad:
args: []
module: coxa
femur:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
running_current: 0.22
servo: *id006
stall_current: 0.65
turret: *id007
mass: 0.01
mass_center: [0, 0.025, 0]
next_segment: tibia
pos: [0, 0.0125, -0.022375]
rot: [0.0, 0, 0]
scad:
args: [0.045]
module: femur
tibia:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
running_current: 0.22
servo: *id006
stall_current: 0.65
turret: *id007
mass: 0.015
mass_center: [0, 0.025, 0]
next_segment: tip
pos: [0, 0.045, 0]
rot: [-1.5707963267948966, 0, 0]
scad:
args: []
module: tibia
tip:
mass: 0
mass_center: [0, 0, 0]
pos: [-0.005, 0.05, 0]
rot: [0, 0, 0]
</rosparam>
</launch>
<launch>
<node name="fl_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
channel_offset: 0
mirror: [1, 0, 0]
pos: [0.055, 0.025, 0]
rot: [0, 0, -0.5235987755982988]
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}
axis: [0, 0, 1]
axle: &amp;id002 {diameter: 0.0048200000000000005, height: 0.0039, screw_diameter: 0.002}
channel: 0
default_pos: 0
frame: &amp;id003 {length: 0.0322, thickness: 0.0024500000000000004, v_offset: 0.016}
gimbal_vector: &amp;id004 [-0.00585, 0.0125, -0.01705]
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: &amp;id005
center_offset: {x: 0.00625, y: 0.002325}
diameter: 0.002
slot: 1
pulse: &amp;id006 {max: 2100, min: 900}
reverse: false
running_current: 0.22
servo: &amp;id007 {height: 0.0229, length: 0.0229, width: 0.0125}
stall_current: 0.65
turret: &amp;id008
diameter: 0.011699999999999999
height: 0.0052
margin: {x: 0.0004000000000000002, y: 0.0112}
mass: 0.03
mass_center: [0, 0.01, -0.005]
next_segment: femur
pos: [0, 0, 0]
rot: [0, 0, 0]
scad:
args: []
module: coxa
femur:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
channel: 1
default_pos: 0
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
pulse: *id006
reverse: false
running_current: 0.22
servo: *id007
stall_current: 0.65
turret: *id008
mass: 0.01
mass_center: [0, 0.025, 0]
next_segment: tibia
pos: [0, 0.0125, -0.022375]
rot: [0.0, 0, 0]
scad:
args: [0.045]
module: femur
tibia:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
channel: 2
default_pos: 0
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
pulse: *id006
reverse: false
running_current: 0.22
servo: *id007
stall_current: 0.65
turret: *id008
mass: 0.015
mass_center: [0, 0.025, 0]
next_segment: tip
pos: [0, 0.045, 0]
rot: [-1.5707963267948966, 0, 0]
scad:
args: []
module: tibia
tip:
mass: 0
mass_center: [0, 0, 0]
pos: [-0.005, 0.05, 0]
rot: [0, 0, 0]
</rosparam>
</launch>
<launch>
<node name="fr_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
mirror: [0, 0, 0]
pos: [0.055, -0.025, 0]
rot: [0, 0, -2.6179938779914944]
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}
axis: [0, 0, 1]
axle: &amp;id002 {diameter: 0.0048200000000000005, height: 0.0039, screw_diameter: 0.002}
frame: &amp;id003 {length: 0.0322, thickness: 0.0024500000000000004, v_offset: 0.016}
gimbal_vector: &amp;id004 [-0.00585, 0.0125, -0.01705]
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: &amp;id005
center_offset: {x: 0.00625, y: 0.002325}
diameter: 0.002
slot: 1
running_current: 0.22
servo: &amp;id006 {height: 0.0229, length: 0.0229, width: 0.0125}
stall_current: 0.65
turret: &amp;id007
diameter: 0.011699999999999999
height: 0.0052
margin: {x: 0.0004000000000000002, y: 0.0112}
mass: 0.03
mass_center: [0, 0.01, -0.005]
next_segment: femur
pos: [0, 0, 0]
rot: [0, 0, 0]
scad:
args: []
module: coxa
femur:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
running_current: 0.22
servo: *id006
stall_current: 0.65
turret: *id007
mass: 0.01
mass_center: [0, 0.025, 0]
next_segment: tibia
pos: [0, 0.0125, -0.022375]
rot: [0.0, 0, 0]
scad:
args: [0.045]
module: femur
tibia:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
running_current: 0.22
servo: *id006
stall_current: 0.65
turret: *id007
mass: 0.015
mass_center: [0, 0.025, 0]
next_segment: tip
pos: [0, 0.045, 0]
rot: [-1.5707963267948966, 0, 0]
scad:
args: []
module: tibia
tip:
mass: 0
mass_center: [0, 0, 0]
pos: [-0.005, 0.05, 0]
rot: [0, 0, 0]
</rosparam>
</launch>
<launch>
<node name="fr_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
channel_offset: 3
mirror: [0, 0, 0]
pos: [0.055, -0.025, 0]
rot: [0, 0, -2.6179938779914944]
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}
axis: [0, 0, 1]
axle: &amp;id002 {diameter: 0.0048200000000000005, height: 0.0039, screw_diameter: 0.002}
channel: 0
default_pos: 0
frame: &amp;id003 {length: 0.0322, thickness: 0.0024500000000000004, v_offset: 0.016}
gimbal_vector: &amp;id004 [-0.00585, 0.0125, -0.01705]
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: &amp;id005
center_offset: {x: 0.00625, y: 0.002325}
diameter: 0.002
slot: 1
pulse: &amp;id006 {max: 2100, min: 900}
reverse: false
running_current: 0.22
servo: &amp;id007 {height: 0.0229, length: 0.0229, width: 0.0125}
stall_current: 0.65
turret: &amp;id008
diameter: 0.011699999999999999
height: 0.0052
margin: {x: 0.0004000000000000002, y: 0.0112}
mass: 0.03
mass_center: [0, 0.01, -0.005]
next_segment: femur
pos: [0, 0, 0]
rot: [0, 0, 0]
scad:
args: []
module: coxa
femur:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
channel: 1
default_pos: 0
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
pulse: *id006
reverse: false
running_current: 0.22
servo: *id007
stall_current: 0.65
turret: *id008
mass: 0.01
mass_center: [0, 0.025, 0]
next_segment: tibia
pos: [0, 0.0125, -0.022375]
rot: [0.0, 0, 0]
scad:
args: [0.045]
module: femur
tibia:
joint:
angle: *id001
axis: [1, 0, 0]
axle: *id002
channel: 2
default_pos: 0
frame: *id003
gimbal_vector: *id004
graph: {steps: 16}
horn_offset: 0.0111
max_torque: !!python/object/new:lib.config.Torque [0.15680000000000002]
max_velocity: !!python/object/new:lib.config.AngleVelocity [10.471975511965978]
mounting_hole: *id005
pulse: *id006
reverse: false
running_current: 0.22
servo: *id007
stall_current: 0.65
turret: *id008
mass: 0.015
mass_center: [0, 0.025, 0]
next_segment: tip
pos: [0, 0.045, 0]
rot: [-1.5707963267948966, 0, 0]
scad:
args: []
module: tibia
tip:
mass: 0
mass_center: [0, 0, 0]
pos: [-0.005, 0.05, 0]
rot: [0, 0, 0]
</rosparam>
</launch>
<launch>
<node name="ml_leg_graph_generator" pkg="schpin_stg" type="leg_graph_generator"/>
<rosparam>chain_root: coxa
mirror: [0, 0, 0]
pos: [0, 0.03, 0]
rot: [0, 0, 0]
segments:
coxa:
joint:
angle: &amp;id001 {max: 1.3089969389957472, min: -1.3089969389957472}