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Viewing changes to shadow_robot/sr_hand/launch/srh_muscle.launch

  • Committer: Ugo Cupcic
  • Date: 2011-11-21 16:31:23 UTC
  • mfrom: (1.1.164 sr-ros-interface)
  • Revision ID: ugo@shadowrobot.com-20111121163123-k5q6e8l00w81f5hx
0.1.0

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shadow_robot/sr_hand/launch/srh_muscle.launch
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<launch>
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  <param name="hand_description" textfile="$(find sr_hand)/model/shadowhand_muscle.urdf"/>
 
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  <param name="hand_description" textfile="$(find sr_hand)/model/robots/shadowhand_muscle.urdf"/>
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  <!-- shadowhand -->
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  <node pkg="sr_hand" name="shadowhand"
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        type="shadowhand_virtual" >
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    <remap from="robot_description" to="hand_description"/>
 
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    <param name="gazebo_joint_states_prefix" type="string" value="gazebo/" />
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    <param name="shadowhand_prefix" type="string" value="srh/" />
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    <param name="publish_frequency_diagnostics" type="double" value="1.0" />
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    <param name="publish_frequency" type="double" value="20.0" />
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    <param name="tf_prefix" type="string" value="srh/target" />
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  </node>
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  <node pkg="tf" type="static_transform_publisher" name="fixed_frame_pos_pub" args="0 0 0 0 0 0 /srh/position/shadow_forearm fixed 100" />
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  <node pkg="tf" type="static_transform_publisher" name="fixed_frame_target_pub" args="0 0 0 0 0 0 fixed /srh/target/shadow_forearm 100" />
 
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  <node pkg="tf" type="static_transform_publisher" name="fixed_frame_pos_pub" args="0 0 0 0 0 0 /srh/position/forearm_muscle fixed 100" />
 
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  <node pkg="tf" type="static_transform_publisher" name="fixed_frame_target_pub" args="0 0 0 0 0 0 fixed /srh/target/forearm_muscle 100" />
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  <node pkg="diagnostic_aggregator" type="aggregator_node"