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Viewing changes to sr_hand/launch/sr_arm_motor.launch

  • Committer: Ugo Cupcic
  • Date: 2012-07-23 14:42:29 UTC
  • Revision ID: ugo@shadowrobot.com-20120723144229-i8bc0yl6803v22zi
unified srh_motor.launch and srh_muscle.launch in the same file -> renamed forearm_muscle and forearm_motor to forearm only

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sr_hand/launch/sr_arm_motor.launch
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  <node pkg="tf" type="static_transform_publisher" name="fixed_frame_pos_pub_arm" args="0 0 0 0 0 0 fixed /sr_arm/position/world 100" />
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  <node pkg="tf" type="static_transform_publisher" name="fixed_frame_target_pub_arm" args="0 0 0 0 0 0 fixed /sr_arm/target/world 100" />
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  <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_pos" args="0 0 0 2.3562 0 0 /sr_arm/position/shadowarm_handsupport_motor /srh/position/forearm_motor 100" />
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  <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_target" args="0 0 0 2.3562 0 0 /sr_arm/target/shadowarm_handsupport_motor /srh/target/forearm_motor 100" />
 
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  <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_pos" args="0 0 0 2.3562 0 0 /sr_arm/position/shadowarm_handsupport_motor /srh/position/forearm 100" />
 
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  <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_target" args="0 0 0 2.3562 0 0 /sr_arm/target/shadowarm_handsupport_motor /srh/target/forearm 100" />
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  <!-- Joint States positions merger to get one single vector for both arm and hand -->
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  <node pkg="sr_utilities" type="ordered_position_joint_states_merger.py" name="ordered_position_joint_states_merger"/>