26 lines
1.0 KiB
XML
26 lines
1.0 KiB
XML
<?xml version="1.0" ?>
|
|
<launch>
|
|
<arg name="robot_ip" default="172.16.0.2" />
|
|
<arg name="load_gripper" default="true" />
|
|
|
|
<!-- Panda control nodes -->
|
|
<include file="$(find franka_control)/launch/franka_control.launch">
|
|
<arg name="robot_ip" value="$(arg robot_ip)" />
|
|
<arg name="load_gripper" value="$(arg load_gripper)" />
|
|
</include>
|
|
|
|
<!-- Controllers -->
|
|
<rosparam command="load" file="$(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_pointcloud" value="true" />
|
|
<arg name="publish_tf" value="false" />
|
|
</include>
|
|
|
|
<!-- Hand-eye calibration -->
|
|
<node pkg="tf2_ros" type="static_transform_publisher" name="to_camera" args="0.108, -0.019, 0.052 0.000, 0.000, 0.720, 0.694 panda_hand camera_depth_optical_frame" />
|
|
|
|
</launch>
|