From 0339ebcd53a8e8512dbc197dabb5947ef1008b39 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 28 Feb 2019 19:33:42 +0100
Subject: [PATCH] Update launch files
---
launch/description.launch | 18 +++++++++---------
launch/test.launch | 9 ++++++---
2 files changed, 15 insertions(+), 12 deletions(-)
diff --git a/launch/description.launch b/launch/description.launch
index c425588..ecd3642 100644
--- a/launch/description.launch
+++ b/launch/description.launch
@@ -1,17 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="name" default="dabo"/>
- <arg name="model" default="dabo"/>
+ <arg name="ns" default="dabo"/>
+ <arg name="model" default="dabo"/>
<arg name="static_wheels" default="false" />
- <group ns="$(arg name)">
+ <group ns="$(arg ns)">
<param name="robot_description"
- command="$(find xacro)/xacro --inorder '$(find iri_dabo_description)/urdf/$(arg model).xacro' name:=$(arg name)" />
+ command="$(find xacro)/xacro --inorder '$(find iri_dabo_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
<node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
- <param name="tf_prefix" type="string" value="/$(arg name)"/>
+ <param name="tf_prefix" type="string" value="/$(arg ns)"/>
<param name="publish_frequency" type="double" value="20.0"/>
</node>
@@ -20,8 +20,8 @@
type="joint_state_publisher"
name="joint_state_publisher">
<param name="use_gui" value="true"/>
- <remap from="$(arg name)/joint_states" to="$(arg name)/joint_states/"/>
- <remap from="$(arg name)/robot_description" to="$(arg name)/robot_description/"/>
+ <remap from="$(arg ns)/joint_states" to="$(arg ns)/joint_states/"/>
+ <remap from="$(arg ns)/robot_description" to="$(arg ns)/robot_description/"/>
</node>
-->
@@ -29,13 +29,13 @@
<group if="$(arg static_wheels)">
<include file="$(find iri_segway_rmp200_description)/launch/wheel_static_transform.launch">
- <arg name="name" value="$(arg name)"/>
+ <arg name="name" value="$(arg ns)"/>
</include>
</group>
<include file="$(find iri_segway_rmp200_description)/launch/caster_wheels_static_transform.launch">
- <arg name="name" value="$(arg name)"/>
+ <arg name="name" value="$(arg ns)"/>
</include>
</launch>
\ No newline at end of file
diff --git a/launch/test.launch b/launch/test.launch
index cc4b45f..3c9d6bc 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -2,12 +2,15 @@
<launch>
<include file="$(find iri_dabo_description)/launch/description.launch">
- <arg name="name" value="dabo"/>
- <arg name="model" value="dabo"/>
+ <arg name="ns" value="dabo"/>
+ <arg name="model" value="dabo"/>
<arg name="static_wheels" value="true"/>
</include>
- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find iri_dabo_description)/rviz/dabo.rviz">
+ <node pkg="rviz"
+ type="rviz"
+ name="rviz"
+ args="-d $(find iri_dabo_description)/rviz/dabo.rviz">
</node>
</launch>
\ No newline at end of file
--
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