26 lines
1.1 KiB
XML
26 lines
1.1 KiB
XML
<?xml version="1.0" ?>
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<launch>
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<!-- Parameters -->
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<arg name="launch_rviz" default="false" />
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<arg name="robot_ip" default="172.16.0.2" />
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<!-- Transforms -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="to_world" args="0 0 0 0 0 0 world panda_link0" />
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<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" />
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<!-- Launch camera driver -->
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<include file="$(find realsense2_camera)/launch/rs_camera.launch">
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<arg name="enable_pointcloud" value="true" />
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<arg name="publish_tf" value="false" />
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</include>
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<!-- Launch panda driver -->
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<include file="$(find franka_control)/launch/franka_control.launch">
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<arg name="robot_ip" value="$(arg robot_ip)" />
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<!-- <arg name="load_robot_description" value="$(arg load_robot_description)" /> -->
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</include>
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<!-- Launch rviz -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
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</launch>
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