Commit 4d8fb834 authored by Jan Koniarik's avatar Jan Koniarik
Browse files

dev layer removed

parent 4d0a9dbf
<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>
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