-
Notifications
You must be signed in to change notification settings - Fork 4
/
demo.launch
44 lines (36 loc) · 1.87 KB
/
demo.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
<?xml version="1.0"?>
<launch>
<arg name="rviz" default="true"/>
<!-- Load robot description -->
<param name="robot_description" command="$(find xacro)/xacro $(find sdf_contact_estimation_demo)/urdf/tracked_robot.urdf.xacro" />
<!-- Interactive marker to control robot pose -->
<node pkg="vigir_interactive_marker_pose_server" type="interactive_marker_pose_server" name="robot_pose_interactive_marker" output="screen"
ns="sdf_contact_estimation/interactive_marker">
<remap from="pose" to="set_robot_pose"/>
<param name="marker_name" value="robot_pose" />
<param name="frame_id" value="world" />
<remap from="~init_pose" to="/sdf_contact_estimation/robot_pose"/>
</node>
<!-- Joint state UI -->
<rosparam subst_value="true">
zeros:
flipper_front_joint: -1.0
flipper_back_joint: -1.0
</rosparam>
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<!-- sdf contact estimation -->
<node pkg="sdf_contact_estimation" type="sdf_contact_estimation_node" name="sdf_contact_estimation" output="screen" clear_params="true">
<!-- node parameters -->
<param name="debug" value="false"/>
<param name="stepping" value="false"/>
<rosparam>
robot_pose: [0.9, 0.0, 0.5, 0.0, 0.0, 0.0]
</rosparam>
<rosparam file="$(find sdf_contact_estimation_demo)/config/sdf_config.yaml" command="load" subst_value="true"/>
<rosparam file="$(find sdf_contact_estimation_demo)/config/optimization.yaml" command="load" />
<rosparam file="$(find sdf_contact_estimation_demo)/config/shape_config.yaml" command="load" ns="shape_model" />
<remap from="~set_robot_pose" to="/sdf_contact_estimation/interactive_marker/set_robot_pose"/>
</node>
<!-- rviz vizualisation -->
<include if="$(arg rviz)" file="$(find sdf_contact_estimation_demo)/launch/rviz.launch"/>
</launch>