From f9b89fd068e41edbe388f554725a942ccc8e32a4 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 17 Mar 2021 09:32:49 +0100
Subject: [PATCH] Added ivo_gripper_client.launch

---
 launch/ivo_gripper_client.launch | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)
 create mode 100644 launch/ivo_gripper_client.launch

diff --git a/launch/ivo_gripper_client.launch b/launch/ivo_gripper_client.launch
new file mode 100644
index 0000000..8046bb8
--- /dev/null
+++ b/launch/ivo_gripper_client.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="node_name" default="gripper_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_gripper_module)/config/ivo_gripper_module_default.yaml" />
+  <arg name="gripper_action" default="/gripper_left_controller/follow_joint_trajectory"/>
+  <arg name="grasp_service" default="/parallel_gripper_left_controller/grasp"/>
+
+  <include file="$(find tiago_gripper_module)/launch/tiago_gripper_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="gripper_action"  value="$(arg gripper_action)"/>
+    <arg name="grasp_service"   value="$(arg grasp_service)"/>
+  </include>
+
+</launch>
-- 
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