Merge pull request #1126 from Affonso-Gui/mannequin_mode

[pr2] Add mannequin_mode setup
jsk-ros-pkg · Oct 15, 2019 · 28970fb · 28970fb
2 parents 9b931bc + 1c8ac21
commit 28970fb
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch
@@ -6,6 +6,8 @@
   <arg name="launch_wifi_ddwrt" default="false" />
   <arg name="launch_network_detector" default="false" />
   <arg name="launch_app_manager" default="true" />
+  <arg name="setup_mannequin_mode" default="true"
+       doc="prepares mannequin_mode to be callable by EusLisp interface"/>
 
   <param name="/use_sim_time" value="false"/>
   <include file="$(find pr2_machine)/pr2.machine" />
@@ -213,4 +215,15 @@
     <arg name="applist" value="$(find jsk_pr2_startup)/apps"/>
     <arg name="respawn" value="false"/>
   </include>
+
+  <!-- mannequin mode -->
+  <group if="$(arg setup_mannequin_mode)">
+    <include file="$(find pr2_mannequin_mode)/launch/trajectory_lock.launch"/>
+    <rosparam command="load" file="$(find pr2_mannequin_mode)/config/pr2_arm_controllers_loose.yaml" />
+    <rosparam command="load" file="$(find pr2_mannequin_mode)/config/head_position_controller_loose.yaml" />
+    <node pkg="pr2_controller_manager" type="pr2_controller_manager"
+          name="load_mannequin_controllers"
+          args="load head_traj_controller_loose l_arm_controller_loose r_arm_controller_loose"/>
+  </group>
+
 </launch>