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Read cartesian controller topic from rosparam

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This commit is contained in:
Michel Breyer
2021-11-24 11:34:12 +01:00
parent 2e1f3eb4a7
commit bcd270414f
4 changed files with 9 additions and 3 deletions
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3
launch/env.launch
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@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="launch_rviz" default="false" />
<arg name="simulation" default="true" />
<arg name="launch_rviz" default="false" />
<!-- Load parameters -->
<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
@@ -9,6 +9,7 @@
<!-- Load robot description -->
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<!-- Simulated environment -->
<group if="$(arg simulation)">
<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" />