test.launch 1.02 KB
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<launch>

  <arg name="ROBOT" default="iri_wam" />
  <arg name="initial_joints_pose"  default="[0.0, 1.0, 0.0, 1.8, 0.0, 0.0, 0.0]" />
  <arg name="final_joints_pose"    default="[0.0, 1.0, 0.0, 2.0, 0.0, 0.0, 0.0]" />

  <group ns="$(arg ROBOT)">

    <node name="$(arg ROBOT)_dmp_tracker" pkg="iri_wam_dmp_tracker" type="iri_wam_dmp_tracker" >
        <rosparam param="initial_joints_pose" subst_value="True">$(arg initial_joints_pose)</rosparam>  
        <rosparam param="final_joints_pose" subst_value="True">$(arg final_joints_pose)</rosparam>  
        <remap from="~DMPTracker_output" to="/$(arg ROBOT)/$(arg ROBOT)_controller/DMPTrackerNewGoal"/>
        <remap from="~dmp_compliant_joint_tracker" to="/$(arg ROBOT)/$(arg ROBOT)_controller/dmp_compliant_joint_tracker"/>
        <remap from="~DMP_ik" to="/$(arg ROBOT)/$(arg ROBOT)_tcp_ik/get_wam_ik"/>
        <!--<remap from="~pose_surface" to="/pose_keyboard_teleop/output_pose"/> -->
        <remap from="~pose_surface" to="/$(arg ROBOT)/pose_st"/>
    </node>

  </group>

</launch>