65 lines
2.6 KiB
XML
65 lines
2.6 KiB
XML
<?xml version="1.0"?>
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<launch>
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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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<!-- start in sim mode -->
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<arg name="sim" default="$(eval optenv('HARDWARE_MODE', 'sim') == 'sim')"/>
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<!-- ID of the tool to use -->
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<arg name="tool" default="ezgripper_gen2_plus"/>
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<!-- The name of the parameter under which the URDF is loaded -->
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<arg name="robot_description" default="robot_description"/>
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<!-- The camera nodelet manager to start -->
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<arg name="manager" default="camera_nodelet_manager"/>
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<!-- set sim param -->
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<param name="sim" value="$(arg sim)" />
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<!-- Load universal robot description format (URDF) -->
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<param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find borunte_support)/urdf/borunte_on_stand.xacro' tool:=$(arg tool)"/>
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<!-- load I/O config -->
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<rosparam
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command="load"
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file="$(find borunte_support)/config/io_config.yaml"
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/>
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<!-- run the "real robot" interface nodes -->
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<include file="$(find borunte_support)/launch/hal_hardware.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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<arg name="sim" value="$(arg sim)"/>
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<arg name="tool" value="$(arg tool)" />
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</include>
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<!-- Start tool/gripper nodes -->
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<node pkg="ezgripper_driver" type="ezgripper.py" name="ezgripper" output="screen" if="$(eval tool == 'ezgripper_gen2_plus' and not sim)">
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<param name="port" value="hwgrep://0403:6015"/>
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<param name="baud" value="57600"/>
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<rosparam param="grippers">{main:[1]}</rosparam>
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</node>
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<node pkg="ezgripper_driver" type="ezgripper_sim.py" name="ezgripper" output="screen" if="$(eval tool == 'ezgripper_gen2_plus' and sim)">
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<rosparam param="grippers">{main:[1]}</rosparam>
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</node>
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<!-- publish the robot state (tf transforms) -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- launch vision chain -->
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<include file="$(find tag_tracking)/launch/combine_rgbd.launch">
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<arg name="manager" value="$(arg manager)"/>
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</include>
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<include file="$(find tag_tracking)/launch/elp_camera_13mp_cv_stream.launch" unless="$(arg sim)">
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<arg name="manager" value="$(arg manager)"/>
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<arg name="use_manager" value="true"/>
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</include>
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<include file="$(find tag_tracking)/launch/pico_flexx_camera.launch" unless="$(arg sim)">
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<arg name="manager" value="$(arg manager)"/>
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<arg name="use_manager" value="true"/>
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</include>
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</launch>
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