From ca64233d725a553e1a8f8b7b2b998c7cf09aef31 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 15 Jun 2021 10:28:04 +0200
Subject: [PATCH] Added ivo launch files

---
 launch/ivo_play_motion_bt_client.launch     | 20 ++++++++++++++++++
 launch/ivo_play_motion_bt_client_sim.launch | 23 +++++++++++++++++++++
 launch/ivo_play_motion_client.launch        | 14 +++++++++++++
 launch/ivo_play_motion_client_sim.launch    | 17 +++++++++++++++
 4 files changed, 74 insertions(+)
 create mode 100644 launch/ivo_play_motion_bt_client.launch
 create mode 100644 launch/ivo_play_motion_bt_client_sim.launch
 create mode 100644 launch/ivo_play_motion_client.launch
 create mode 100644 launch/ivo_play_motion_client_sim.launch

diff --git a/launch/ivo_play_motion_bt_client.launch b/launch/ivo_play_motion_bt_client.launch
new file mode 100644
index 0000000..1cf12a8
--- /dev/null
+++ b/launch/ivo_play_motion_bt_client.launch
@@ -0,0 +1,20 @@
+<?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="$(find tiago_play_motion_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_bt_client.launch">
+    <arg name="node_name"                  value="$(arg node_name)" />
+    <arg name="output"                     value="$(arg output)" />
+    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
+    <arg name="tree_path"       	   value="$(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/ivo_play_motion_bt_client_sim.launch b/launch/ivo_play_motion_bt_client_sim.launch
new file mode 100644
index 0000000..99f86ee
--- /dev/null
+++ b/launch/ivo_play_motion_bt_client_sim.launch
@@ -0,0 +1,23 @@
+<?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="$(find tiago_play_motion_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
+  </include>
+
+  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_bt_client.launch">
+    <arg name="node_name"                  value="$(arg node_name)" />
+    <arg name="output"                     value="$(arg output)" />
+    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
+    <arg name="tree_path"       	   value="$(arg tree_path)"/>
+    <arg name="tree_file"       	   value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  	   value="$(arg bt_client_rate)"/>
+  </include>
+
+</launch>
+
diff --git a/launch/ivo_play_motion_client.launch b/launch/ivo_play_motion_client.launch
new file mode 100644
index 0000000..5913c11
--- /dev/null
+++ b/launch/ivo_play_motion_client.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" 	 default="tiago_play_motion_client" />
+  <arg name="output" 	 	 default="screen" />
+  <arg name="launch_prefix" 	 default="" />
+
+  <include file="$(find tiago_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="$(arg launch_prefix)" />
+  </include>
+
+</launch>
+
diff --git a/launch/ivo_play_motion_client_sim.launch b/launch/ivo_play_motion_client_sim.launch
new file mode 100644
index 0000000..75d10ca
--- /dev/null
+++ b/launch/ivo_play_motion_client_sim.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" 	 default="tiago_play_motion_client" />
+  <arg name="output" 	 	 default="screen" />
+  <arg name="launch_prefix" 	 default="" />
+
+  <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
+  </include>
+
+  <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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