From affb6f1beb05da5cb93fd1fa997f7f45ada35aae Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 10 Nov 2020 13:12:56 +0100
Subject: [PATCH] Updated the launch files with external arguments. Added
launch and configuration files for the IVO robot.
---
launch/ivo_arm_client_sim.launch | 29 +++++++++++++++++++++++++++++
launch/tiago_arm_client.launch | 27 +++++++++++++++++++--------
launch/tiago_arm_client_sim.launch | 22 +++++++++++++++++++++-
3 files changed, 69 insertions(+), 9 deletions(-)
create mode 100644 launch/ivo_arm_client_sim.launch
diff --git a/launch/ivo_arm_client_sim.launch b/launch/ivo_arm_client_sim.launch
new file mode 100644
index 0000000..a33c014
--- /dev/null
+++ b/launch/ivo_arm_client_sim.launch
@@ -0,0 +1,29 @@
+<?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"/>
+
+ <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
+ </include>
+
+ <include file="$(find tiago_arm_module)/launch/tiago_arm_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="$(arg get_planning_scene_service)"/>
+ </include>
+
+</launch>
+
diff --git a/launch/tiago_arm_client.launch b/launch/tiago_arm_client.launch
index 7e6223f..db742b0 100644
--- a/launch/tiago_arm_client.launch
+++ b/launch/tiago_arm_client.launch
@@ -1,20 +1,31 @@
+<?xml version="1.0" encoding="UTF-8"?>
<launch>
+ <arg name="node_name" default="arm_client" />
+ <arg name="output" default="log" />
+ <arg name="launch_prefix" default="" />
+ <arg name="config_file" default="$(find tiago_arm_module)/config/tiago_arm_module_default.yaml" />
+ <arg name="move_groups_file" default="$(find tiago_arm_module)/config/tiago_move_groups.yaml" />
+ <arg name="joint_states_topic" default="/joint_states"/>
+ <arg name="arm_action" default="/move_group"/>
+ <arg name="planning_scene_topic" default="/planning_scene"/>
+ <arg name="get_planning_scene_service" default="/get_planning_scene"/>
<!-- launch the play motion client node -->
- <node name="arm_client"
+ <node name="$(arg node_name)"
pkg="tiago_arm_module"
type="tiago_arm_client"
- output="screen">
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
<remap from="~/arm_torso/joint_states"
- to="/joint_states"/>
+ to="$(arg joint_states_topic)"/>
<remap from="~/arm_torso/arm"
- to="/move_group"/>
+ to="$(arg arm_action)"/>
<remap from="~/arm_torso/planning_scene"
- to="/planning_scene"/>
+ to="$(arg planning_scene_topic)"/>
<remap from="~/arm_torso/get_planning_scene"
- to="/get_planning_scene"/>
- <rosparam file="$(find tiago_arm_module)/config/tiago_arm_module_default.yaml" command="load" ns="arm_torso" />
- <rosparam file="$(find tiago_arm_module)/config/tiago_move_groups.yaml" command="load" ns="arm_torso" />
+ to="$(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" />
</node>
<!-- launch dynamic reconfigure -->
diff --git a/launch/tiago_arm_client_sim.launch b/launch/tiago_arm_client_sim.launch
index 4dcf5af..ed13326 100644
--- a/launch/tiago_arm_client_sim.launch
+++ b/launch/tiago_arm_client_sim.launch
@@ -1,4 +1,14 @@
+<?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"/>
<include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch">
<arg name="public_sim" value="true" />
@@ -7,7 +17,17 @@
<arg name="use_moveit_camera" value="true"/>
</include>
- <include file="$(find tiago_arm_module)/launch/tiago_arm_client.launch"/>
+ <include file="$(find tiago_arm_module)/launch/tiago_arm_client.launch">
+ <arg name="node_name" value="$(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)"/>
+ </include>
</launch>
--
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