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This commit is contained in:
Michel Breyer
2021-12-22 12:12:09 +01:00
parent 3062fc68d7
commit b86f6614e2
6 changed files with 86 additions and 25 deletions
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2
launch/env.launch
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@@ -12,7 +12,7 @@
<!-- Simulated environment -->
<group if="$(arg sim)">
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/franka/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
</group>

4
launch/hw.launch
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@@ -3,7 +3,7 @@
<arg name="robot_ip" default="172.16.0.2" />
<arg name="load_gripper" default="true" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/urdfs/panda_arm_hand.urdf.xacro" />
<!-- Panda control nodes -->
<node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
@@ -36,6 +36,4 @@
<arg name="enable_pointcloud" value="true" />
<arg name="publish_tf" value="false" />
</include>
</launch>