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Viewing changes to sr_hand/launch/srh_muscle.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/srh_muscle.launch
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<launch>
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  <group if="$(optenv LEFT_HAND 0)">
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    <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_muscle.urdf.xacro'" />
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  </group>
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  <group unless="$(optenv LEFT_HAND 0)">
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    <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_muscle.urdf.xacro'" />
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  </group>
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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="hand_description" to="sh_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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  </node>
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  <!-- Robot state publisher: publishes tf information regarding the
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       position of the hand -->
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  <node pkg="robot_state_publisher" type="state_publisher"
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        name="srh_robot_state_publisher_pos">
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    <remap from="robot_description" to="sh_description"/>
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    <remap from="joint_states" to="srh/position/joint_states" />
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    <param name="publish_frequency" type="double" value="10.0" />
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    <param name="tf_prefix" type="string" value="srh/position" />
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  </node>
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  <!-- Robot state publisher: publishes tf information regarding the
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       targets of the hand -->
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  <node pkg="robot_state_publisher" type="state_publisher"
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        name="srh_robot_state_publisher_target">
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    <remap from="robot_description" to="sh_description"/>
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    <remap from="joint_states" to="srh/target/joint_states" />
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    <param name="publish_frequency" type="double" value="1.0" />
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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/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"
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        name="diagnostic_aggregator" >
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    <!-- Load the file you made above -->
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    <rosparam command="load"
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              file="$(find sr_hand)/shadowhand_analyzer.yaml" />
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  </node>
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</launch>
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