From 51022c1b4c8dc46c4893fccc9f9b90046b9bec96 Mon Sep 17 00:00:00 2001 From: alopez <alopez@iri.upc.edu> Date: Mon, 16 Nov 2020 12:32:59 +0100 Subject: [PATCH] Added BT client launch files --- launch/ivo_arm_bt_client_sim.launch | 36 ++++++++++++++++++++++ launch/tiago_arm_bt_client.launch | 43 +++++++++++++++++++++++++++ launch/tiago_arm_bt_client_sim.launch | 40 +++++++++++++++++++++++++ 3 files changed, 119 insertions(+) create mode 100644 launch/ivo_arm_bt_client_sim.launch create mode 100644 launch/tiago_arm_bt_client.launch create mode 100644 launch/tiago_arm_bt_client_sim.launch diff --git a/launch/ivo_arm_bt_client_sim.launch b/launch/ivo_arm_bt_client_sim.launch new file mode 100644 index 0000000..19379ba --- /dev/null +++ b/launch/ivo_arm_bt_client_sim.launch @@ -0,0 +1,36 @@ +<?xml version="1.0" encoding="UTF-8"?> +<launch> + <arg name="node_name" default="arm_client" /> + <arg name="output" default="log" /> + <arg name="launch_prefix" default="" /> + <arg name="config_file" default="$(find tiago_arm_module)/config/ivo_arm_module_default.yaml" /> + <arg name="move_groups_file" default="$(find tiago_arm_module)/config/ivo_move_groups.yaml" /> + <arg name="joint_states_topic" default="/joint_states"/> + <arg name="arm_action" default="/move_group"/> + <arg name="planning_scene_topic" default="/planning_scene"/> + <arg name="get_planning_scene_service" default="/get_planning_scene"/> + + <arg name="tree_path" default="$(find tiago_arm_module)/src/xml" /> + <arg name="tree_file" default="bt_test" /> + <arg name="bt_client_rate" default="10" /> + + <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch"> + </include> + + <include file="$(find tiago_arm_module)/launch/tiago_arm_bt_client.launch"> + <arg name="node_name" value="$(arg node_name)" /> + <arg name="output" value="$(arg output)" /> + <arg name="launch_prefix" value="$(arg launch_prefix)" /> + <arg name="config_file" value="$(arg config_file)" /> + <arg name="move_groups_file" value="$(arg move_groups_file)" /> + <arg name="joint_states_topic" value="$(arg joint_states_topic)"/> + <arg name="arm_action" value="$(arg arm_action)"/> + <arg name="planning_scene_topic" value="$(arg planning_scene_topic)"/> + <arg name="get_planning_scene_service" value="$(arg get_planning_scene_service)"/> + <arg name="tree_path" value="$(arg tree_path)"/> + <arg name="tree_file" value="$(arg tree_file)"/> + <arg name="bt_client_rate" value="$(arg bt_client_rate)"/> + </include> + +</launch> + diff --git a/launch/tiago_arm_bt_client.launch b/launch/tiago_arm_bt_client.launch new file mode 100644 index 0000000..382d65a --- /dev/null +++ b/launch/tiago_arm_bt_client.launch @@ -0,0 +1,43 @@ +<?xml version="1.0" encoding="UTF-8"?> +<launch> + <arg name="node_name" default="arm_client" /> + <arg name="output" default="log" /> + <arg name="launch_prefix" default="" /> + <arg name="config_file" default="$(find tiago_arm_module)/config/tiago_arm_module_default.yaml" /> + <arg name="move_groups_file" default="$(find tiago_arm_module)/config/tiago_move_groups.yaml" /> + <arg name="joint_states_topic" default="/joint_states"/> + <arg name="arm_action" default="/move_group"/> + <arg name="planning_scene_topic" default="/planning_scene"/> + <arg name="get_planning_scene_service" default="/get_planning_scene"/> + + <arg name="tree_path" default="$(find tiago_arm_module)/src/xml" /> + <arg name="tree_file" default="bt_test" /> + <arg name="bt_client_rate" default="10" /> + + <!-- launch the play motion client node --> + <node name="$(arg node_name)" + pkg="tiago_arm_module" + type="tiago_arm_bt_client" + output="$(arg output)" + launch-prefix="$(arg launch_prefix)"> + <remap from="~/arm_torso/joint_states" + to="$(arg joint_states_topic)"/> + <remap from="~/arm_torso/arm" + to="$(arg arm_action)"/> + <remap from="~/arm_torso/planning_scene" + to="$(arg planning_scene_topic)"/> + <remap from="~/arm_torso/get_planning_scene" + to="$(arg get_planning_scene_service)"/> + <rosparam file="$(arg config_file)" command="load" ns="arm_torso" /> + <rosparam file="$(arg move_groups_file)" command="load" ns="arm_torso" /> + <arg name="tree_path" value="$(arg tree_path)"/> + <arg name="tree_file" value="$(arg tree_file)"/> + <arg name="bt_client_rate" value="$(arg bt_client_rate)"/> + </node> + + <!-- launch dynamic reconfigure --> + <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false" + output="screen"/> + +</launch> + diff --git a/launch/tiago_arm_bt_client_sim.launch b/launch/tiago_arm_bt_client_sim.launch new file mode 100644 index 0000000..24fe356 --- /dev/null +++ b/launch/tiago_arm_bt_client_sim.launch @@ -0,0 +1,40 @@ +<?xml version="1.0" encoding="UTF-8"?> +<launch> + <arg name="node_name" default="arm_client" /> + <arg name="output" default="log" /> + <arg name="launch_prefix" default="" /> + <arg name="config_file" default="$(find tiago_arm_module)/config/tiago_arm_module_default.yaml" /> + <arg name="move_groups_file" default="$(find tiago_arm_module)/config/tiago_move_groups.yaml" /> + <arg name="joint_states_topic" default="/joint_states"/> + <arg name="arm_action" default="/move_group"/> + <arg name="planning_scene_topic" default="/planning_scene"/> + <arg name="get_planning_scene_service" default="/get_planning_scene"/> + + <arg name="tree_path" default="$(find tiago_arm_module)/src/xml" /> + <arg name="tree_file" default="bt_test" /> + <arg name="bt_client_rate" default="10" /> + + <include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch"> + <arg name="public_sim" value="true" /> + <arg name="robot" value="steel" /> + <arg name="world" value="empty" /> + <arg name="use_moveit_camera" value="true"/> + </include> + + <include file="$(find tiago_arm_module)/launch/tiago_arm_bt_client.launch"> + <arg name="node_name" value="$(arg node_name)" /> + <arg name="output" value="$(arg output)" /> + <arg name="launch_prefix" value="$(arg launch_prefix)" /> + <arg name="config_file" value="$(arg config_file)" /> + <arg name="move_groups_file" value="$(arg move_groups_file)" /> + <arg name="joint_states_topic" value="$(arg joint_states_topic)"/> + <arg name="arm_action" value="$(arg arm_action)"/> + <arg name="planning_scene_topic" value="$(arg planning_scene_topic)"/> + <arg name="get_planning_scene_service" value="$(arg get_planning_scene_service)"/> + <arg name="tree_path" value="$(arg tree_path)"/> + <arg name="tree_file" value="$(arg tree_file)"/> + <arg name="bt_client_rate" value="$(arg bt_client_rate)"/> + </include> + +</launch> + -- GitLab