From c57a836c131ee4e6d60f57708f7f1ff489ab810c Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 28 Feb 2019 19:25:52 +0100
Subject: [PATCH] Update launch files
---
launch/description.launch | 38 ++++++++++++++++++++++++--------
urdf/ana.xacro | 4 ++--
urdf/{ => include}/sensors.xacro | 0
3 files changed, 31 insertions(+), 11 deletions(-)
rename urdf/{ => include}/sensors.xacro (100%)
diff --git a/launch/description.launch b/launch/description.launch
index 2401d6e..3562aa3 100644
--- a/launch/description.launch
+++ b/launch/description.launch
@@ -1,16 +1,36 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="node_name" default="ana"/>
- <arg name="model" default="ana"/>
+ <arg name="ns" default="ana"/>
+ <arg name="model" default="ana"/>
+ <arg name="static_wheels" default="false" />
- <param name="robot_description"
- command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg node_name)" />
+ <group ns="$(arg ns)">
+
+ <param name="robot_description"
+ command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
- <node pkg="robot_state_publisher" type="state_publisher" name="$(arg node_name)_state_publisher">
- <param name="tf_prefix" type="string" value="/$(arg node_name)"/>
- <param name="publish_frequency" type="double" value="20.0"/>
- </node>
+ <node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
+ <param name="tf_prefix" type="string" value="/$(arg ns)"/>
+ <param name="publish_frequency" type="double" value="20.0"/>
+ </node>
-</launch>
+ <!--
+ <node pkg="joint_state_publisher"
+ type="joint_state_publisher"
+ name="joint_state_publisher">
+ <param name="use_gui" value="true"/>
+ <remap from="$(arg ns)/joint_states" to="$(arg ns)/joint_states/"/>
+ <remap from="$(arg ns)/robot_description" to="$(arg ns)/robot_description/"/>
+ </node>
+ -->
+ </group>
+
+ <group if="$(arg static_wheels)">
+ <include file="$(find iri_pioneer3_description)/launch/wheel_static_transform.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ </include>
+ </group>
+
+</launch>
\ No newline at end of file
diff --git a/urdf/ana.xacro b/urdf/ana.xacro
index d33d059..aa62854 100644
--- a/urdf/ana.xacro
+++ b/urdf/ana.xacro
@@ -4,8 +4,8 @@
<xacro:arg name="name" default="ana"/>
- <xacro:include filename="$(find iri_pioneer3_description)/urdf/pioneer3.xacro" />
- <xacro:include filename="$(find iri_ana_description)/urdf/sensors.xacro" />
+ <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
+ <xacro:include filename="$(find iri_ana_description)/urdf/include/sensors.xacro" />
<xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_sim_config.yaml">
</xacro:pioneer3>
diff --git a/urdf/sensors.xacro b/urdf/include/sensors.xacro
similarity index 100%
rename from urdf/sensors.xacro
rename to urdf/include/sensors.xacro
--
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