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Add launch file for panda

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This commit is contained in:
Michel Breyer
2021-11-19 18:04:54 +01:00
parent 90714da7db
commit 2e1f3eb4a7
1 changed files with 28 additions and 14 deletions
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42
launch/panda.launch
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@@ -1,25 +1,39 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<launch> <launch>
<!-- Parameters -->
<arg name="launch_rviz" default="false" />
<arg name="robot_ip" default="172.16.0.2" /> <arg name="robot_ip" default="172.16.0.2" />
<arg name="load_gripper" default="true" />
<!-- Transforms --> <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<node pkg="tf2_ros" type="static_transform_publisher" name="to_world" args="0 0 0 0 0 0 world panda_link0" />
<node pkg="tf2_ros" type="static_transform_publisher" name="to_camera" args="0.03226862 -0.06137175 0.04107702 0.00099995 0. 0.39898185 0.91695828 panda_link8 camera_depth_optical_frame" />
<!-- Launch camera driver --> <!-- Panda control nodes -->
<node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
<rosparam command="load" file="$(find franka_control)/config/franka_control_node.yaml" />
<param name="robot_ip" value="$(arg robot_ip)" />
</node>
<include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
<rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
<rosparam command="load" file="$(find panda_controllers)/config/controllers.yaml" />
<!-- State publisher -->
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<!-- Controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--stopped position_joint_trajectory_controller cartesian_velocity_controller"/>
<!-- Camera -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch"> <include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="enable_pointcloud" value="true" /> <arg name="enable_pointcloud" value="true" />
<arg name="publish_tf" value="false" /> <arg name="publish_tf" value="false" />
</include> </include>
<!-- Launch panda driver -->
<include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<!-- <arg name="load_robot_description" value="$(arg load_robot_description)" /> -->
</include>
<!-- Launch rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
</launch> </launch>