From 33fad8cc70ea2e6b95a681f61bda7ea91ce90c04 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 10 Jul 2018 09:56:54 +0200
Subject: [PATCH] Added a launch file for each of the robot types.
---
...ol.launch => darwin_ceabot_control.launch} | 0
.../launch/darwin_cpp_control.launch | 22 +++++++++++++++++++
.../launch/darwin_sc_control.launch | 22 +++++++++++++++++++
3 files changed, 44 insertions(+)
rename darwin_control/launch/{darwin_control.launch => darwin_ceabot_control.launch} (100%)
create mode 100644 darwin_control/launch/darwin_cpp_control.launch
create mode 100644 darwin_control/launch/darwin_sc_control.launch
diff --git a/darwin_control/launch/darwin_control.launch b/darwin_control/launch/darwin_ceabot_control.launch
similarity index 100%
rename from darwin_control/launch/darwin_control.launch
rename to darwin_control/launch/darwin_ceabot_control.launch
diff --git a/darwin_control/launch/darwin_cpp_control.launch b/darwin_control/launch/darwin_cpp_control.launch
new file mode 100644
index 0000000..1481ebd
--- /dev/null
+++ b/darwin_control/launch/darwin_cpp_control.launch
@@ -0,0 +1,22 @@
+<launch>
+
+ <arg name="config_file" default="darwin_config.xml"/>
+ <arg name="robot" default="darwin"/>
+
+ <!-- Load joint controller configurations from YAML file to parameter server -->
+ <rosparam file="$(find darwin_control)/config/$(arg robot).yaml" command="load"/>
+
+ <param name="motion_file" value="$(find darwin_controller_cpp)/config/motion_1024.bin"/>
+ <param name="config_file" value="$(find darwin_controller_cpp)/src/xml/$(arg config_file)"/>
+
+ <!-- load the controllers -->
+ <node name="controller_spawner"
+ pkg="controller_manager"
+ type="spawner"
+ respawn="false"
+ output="screen"
+ ns="/darwin"
+ args="darwin_controller_cpp joint_state_controller">
+ </node>
+</launch>
+
diff --git a/darwin_control/launch/darwin_sc_control.launch b/darwin_control/launch/darwin_sc_control.launch
new file mode 100644
index 0000000..dbc31ed
--- /dev/null
+++ b/darwin_control/launch/darwin_sc_control.launch
@@ -0,0 +1,22 @@
+<launch>
+
+ <arg name="config_file" default="darwin_config.xml"/>
+ <arg name="robot" default="darwin"/>
+
+ <!-- Load joint controller configurations from YAML file to parameter server -->
+ <rosparam file="$(find darwin_control)/config/$(arg robot).yaml" command="load"/>
+
+ <param name="motion_file" value="$(find darwin_controller)/config/motion_1024.bin"/>
+ <param name="config_file" value="$(find darwin_controller)/src/xml/$(arg config_file)"/>
+
+ <!-- load the controllers -->
+ <node name="controller_spawner"
+ pkg="controller_manager"
+ type="spawner"
+ respawn="false"
+ output="screen"
+ ns="/darwin"
+ args="darwin_controller joint_state_controller">
+ </node>
+</launch>
+
--
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