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Add gripper client

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This commit is contained in:
Michel Breyer
2021-04-26 10:45:00 +02:00
parent 5f21b7779c
commit 2628c8bf57
6 changed files with 92 additions and 26 deletions
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6
launch/panda_visualization.launch
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<?xml version="1.0" ?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" />
</launch>

15
launch/simulation.launch Normal file
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<?xml version="1.0" ?>
<launch>
<!-- Arguments -->
<arg name="launch_rviz" default="false" />
<!-- Load parameters. -->
<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<!-- Bringup the robot -->
<node pkg="active_grasp" type="simulation.py" name="simulation" args="--gui" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
<!-- Visualize the robot. -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/panda_visualization.rviz" if="$(arg launch_rviz)" />
</launch>