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Cleanup launch files

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This commit is contained in:
Michel Breyer 2021-12-03 15:21:09 +01:00
parent 3f53671b3c
commit da73f8211c
3 changed files with 32 additions and 44 deletions
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11
launch/apriltag.launch
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@ -1,13 +1,6 @@
<launch>
<!-- Panda -->
<include file="$(find active_grasp)/launch/panda.launch" />
<!-- Camera -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="enable_pointcloud" value="true" />
<arg name="enable_infra1" value="true" />
<arg name="publish_tf" value="false" />
</include>
<!-- Robot and camera drivers -->
<include file="$(find active_grasp)/launch/hw.launch" />
<!-- AprilTag -->
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen">

32
launch/hw.launch
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@ -1,13 +1,41 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="172.16.0.2" />
<arg name="load_gripper" default="true" />
<!-- Panda -->
<include file="$(find active_grasp)/launch/panda.launch" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<!-- Panda control nodes -->
<node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
<rosparam command="load" file="$(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="$(find franka_control)/config/default_controllers.yaml" />
<!-- State publisher -->
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<!-- Controllers -->
<rosparam command="load" file="$(find panda_controllers)/config/controllers.yaml" />
<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">
<arg name="enable_infra1" value="true" />
<arg name="enable_pointcloud" value="true" />
<arg name="publish_tf" value="false" />
</include>
</launch>

33
launch/panda.launch
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@ -1,33 +0,0 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="172.16.0.2" />
<arg name="load_gripper" default="true" />
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
<!-- Panda control nodes -->
<node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
<rosparam command="load" file="$(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="$(find franka_control)/config/default_controllers.yaml" />
<!-- State publisher -->
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<!-- Controllers -->
<rosparam command="load" file="$(find panda_controllers)/config/controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--stopped position_joint_trajectory_controller cartesian_velocity_controller"/>
</launch>