77 lines
2.1 KiB
XML
77 lines
2.1 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!--
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This .launch file brings up the borunte controller
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-->
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<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
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<arg name="load_robot_description" default="true"/>
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<!-- The name of the parameter under which the URDF is loaded -->
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<arg name="robot_description" default="robot_description"/>
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<!-- HAL debug output -->
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<!-- - Output HAL debug messages to screen (console) -->
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<arg name="hal_debug_output" default="false"/>
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<!-- - Set HAL debug level, 0-5 -->
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<arg name="hal_debug_level" default="1"/>
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<!-- - Run in simulated hardware mode -->
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<arg name="sim" default="$(eval optenv('HARDWARE_MODE', 'sim') == 'sim')"/>
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<!-- - Tool to use -->
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<arg name="tool" default="none" />
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<!-- Set search path for robot HAL config -->
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<param
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name="hal_config_path"
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value="$(find borunte_hal)"
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/>
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<!-- cpuset cgroup for RT threads -->
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<arg unless="$(arg sim)" name="cgroup" default="/rt"/>
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<arg if="$(arg sim)" name="cgroup" default=""/>
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<rosparam
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command="load"
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file="$(find borunte_support)/config/hal_hw_interface.yaml"
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/>
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<rosparam
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command="load"
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file="$(find borunte_support)/config/hal_io.yaml"
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/>
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<param
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name="hal_mgr/hal_file_dir"
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value="$(find borunte_support)/halfiles"
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/>
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<param name="hal_hardware/sim_mode" value="$(arg sim)"/>
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<param name="hal_hardware/tool" value="$(arg tool)"/>
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<include file="$(find hal_hw_interface)/launch/hal_hw_interface.launch">
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<arg name="hal_debug_output" value="$(arg hal_debug_output)"/>
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<arg name="hal_debug_level" value="$(arg hal_debug_level)"/>
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</include>
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<rosparam
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file="$(find borunte_support)/config/borunte_controllers.yaml"
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command="load"
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/>
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<node
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name="ros_control_controller_manager"
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pkg="controller_manager"
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type="controller_manager"
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respawn="false"
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output="screen"
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args="spawn joint_state_controller position_trajectory_controller"
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/>
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<node
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name="machinetalk"
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pkg="borunte_support"
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type="run_machinetalk.py"
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/>
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</launch>
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