From 24e50e04b7d454bb46fb4cd5b6b40c8e5c01ad7b Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Wed, 9 Jun 2021 17:16:08 +0200
Subject: [PATCH] Updated launch files
---
launch/tiago_play_motion_bt_client.launch | 9 ++++++---
launch/tiago_play_motion_bt_client_sim.launch | 13 +++++++++----
launch/tiago_play_motion_client.launch | 8 ++++++--
launch/tiago_play_motion_client_sim.launch | 9 ++++++++-
4 files changed, 29 insertions(+), 10 deletions(-)
diff --git a/launch/tiago_play_motion_bt_client.launch b/launch/tiago_play_motion_bt_client.launch
index 385897b..126fa6b 100644
--- a/launch/tiago_play_motion_bt_client.launch
+++ b/launch/tiago_play_motion_bt_client.launch
@@ -1,15 +1,18 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
-
+ <arg name="node_name" default="tiago_play_motion_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
<arg name="tree_path" default="$(find tiago_play_motion_module)/src/xml" />
<arg name="tree_file" default="bt_test" />
<arg name="bt_client_rate" default="10" />
<!-- launch the play motion client node -->
- <node name="tiago_play_motion_client"
+ <node name="$(arg node_name)"
pkg="tiago_play_motion_module"
type="tiago_play_motion_bt_client"
- output="screen"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)"
ns="/tiago">
<remap from="~/tiago_play_motion_module/play_motion"
to="/play_motion"/>
diff --git a/launch/tiago_play_motion_bt_client_sim.launch b/launch/tiago_play_motion_bt_client_sim.launch
index 2010ebe..1c94bd5 100644
--- a/launch/tiago_play_motion_bt_client_sim.launch
+++ b/launch/tiago_play_motion_bt_client_sim.launch
@@ -1,6 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
-
+ <arg name="node_name" default="tiago_play_motion_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
<arg name="tree_path" default="$(find tiago_play_motion_module)/src/xml" />
<arg name="tree_file" default="bt_test" />
<arg name="bt_client_rate" default="10" />
@@ -11,9 +13,12 @@
</include>
<include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_bt_client.launch">
- <arg name="tree_path" value="$(arg tree_path)"/>
- <arg name="tree_file" value="$(arg tree_file)"/>
- <arg name="bt_client_rate" value="$(arg bt_client_rate)"/>
+ <arg name="node_name" value="$(arg node_name)" />
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ <arg name="tree_path" value="$(arg tree_path)"/>
+ <arg name="tree_file" value="$(arg tree_file)"/>
+ <arg name="bt_client_rate" value="$(arg bt_client_rate)"/>
</include>
</launch>
diff --git a/launch/tiago_play_motion_client.launch b/launch/tiago_play_motion_client.launch
index 2e191e5..db49769 100644
--- a/launch/tiago_play_motion_client.launch
+++ b/launch/tiago_play_motion_client.launch
@@ -1,11 +1,15 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
+ <arg name="node_name" default="tiago_play_motion_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
<!-- launch the play motion client node -->
- <node name="tiago_play_motion_client"
+ <node name="$(arg node_name)"
pkg="tiago_play_motion_module"
type="tiago_play_motion_client"
- output="screen"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)"
ns="/tiago">
<remap from="~/play_motion_module/play_motion"
to="/play_motion"/>
diff --git a/launch/tiago_play_motion_client_sim.launch b/launch/tiago_play_motion_client_sim.launch
index 5ddfe12..654988d 100644
--- a/launch/tiago_play_motion_client_sim.launch
+++ b/launch/tiago_play_motion_client_sim.launch
@@ -1,12 +1,19 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
+ <arg name="node_name" default="tiago_play_motion_client" />
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
<include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch">
<arg name="public_sim" value="true" />
<arg name="robot" value="steel" />
</include>
- <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch"/>
+ <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch">
+ <arg name="node_name" value="$(arg node_name)" />
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
</launch>
--
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