From b3e97a808a690e79038e6659f2ea0e8c65f24b3d Mon Sep 17 00:00:00 2001
From: darwin <darwin@darwin.users.iri.prv>
Date: Fri, 25 Aug 2017 11:05:36 +0200
Subject: [PATCH] Added a generic launch for the CEABOT competition. Removed
the rqt_reconfigure launch from the action client.
---
darwin_apps/launch/action_client.launch | 4 --
darwin_apps/launch/ceabot/ceabot_base.launch | 13 ++++++
.../launch/ceabot/ceabot_vision.launch | 41 -------------------
3 files changed, 13 insertions(+), 45 deletions(-)
create mode 100644 darwin_apps/launch/ceabot/ceabot_base.launch
delete mode 100644 darwin_apps/launch/ceabot/ceabot_vision.launch
diff --git a/darwin_apps/launch/action_client.launch b/darwin_apps/launch/action_client.launch
index cb5c8ab..5ee48f0 100644
--- a/darwin_apps/launch/action_client.launch
+++ b/darwin_apps/launch/action_client.launch
@@ -18,9 +18,5 @@
to="/darwin/robot/set_servo_modules"/>
</node>
- <!-- launch dynamic reconfigure -->
- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
- output="screen"/>
-
</launch>
diff --git a/darwin_apps/launch/ceabot/ceabot_base.launch b/darwin_apps/launch/ceabot/ceabot_base.launch
new file mode 100644
index 0000000..e33e9e2
--- /dev/null
+++ b/darwin_apps/launch/ceabot/ceabot_base.launch
@@ -0,0 +1,13 @@
+<launch>
+
+ <arg name="robot" default="darwin" />
+
+ <include file="$(find darwin_description)/launch/darwin_base.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <include file="$(find darwin_apps)/launch/xs_camera_qr.launch"/>
+
+ <include file="$(find bno055_imu)/launch/darwin_bno055_imu.launch"/>
+</launch>
+
diff --git a/darwin_apps/launch/ceabot/ceabot_vision.launch b/darwin_apps/launch/ceabot/ceabot_vision.launch
deleted file mode 100644
index 859a824..0000000
--- a/darwin_apps/launch/ceabot/ceabot_vision.launch
+++ /dev/null
@@ -1,41 +0,0 @@
-<launch>
-
- <arg name="robot" default="darwin" />
-
- <include file="$(find darwin_description)/launch/darwin_base.launch">
- <arg name="robot" value="$(arg robot)" />
- </include>
-
- <include file="$(find darwin_apps)/launch/xs_camera_qr.launch"/>
-
- <!-- launch the vision_prove node -->
- <node pkg ="iri_vision_prove"
- type="iri_vision_prove"
- name="iri_vision_prove"
- output="screen">
- <remap from="/head_follow_target"
- to="/darwin/robot/head_follow_target"/>
- <remap from="/iri_vision_prove/set_servo_modules"
- to="/darwin/robot/set_servo_modules"/>
- <remap from="/iri_vision_prove/head_target"
- to="/darwin/robot/head_target"/>
- <remap from="/iri_vision_prove/qr_pose"
- to="/darwin/qr_detector/qr_pose"/>
- <remap from="/iri_vision_prove/joint_states"
- to="/darwin/joint_states"/>
- <remap from="/joint_trajectory"
- to="/darwin/robot/joint_trajectory"/>
- <remap from="/iri_vision_prove/cmd_vel"
- to="/darwin/robot/cmd_vel"/>
- <remap from="/iri_vision_prove/set_walk_params"
- to="/darwin/robot/set_walk_params"/>
- <remap from="/motion_action"
- to="/darwin/robot/motion_action"/>
- </node>
-
- <!-- launch dynamic reconfigure -->
-<!-- <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
- output="screen"/>-->
-
-</launch>
-
--
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