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

  • Committer: Ugo Cupcic
  • Date: 2011-05-23 15:44:05 UTC
  • mfrom: (119.1.67 sr-ros-interface)
  • Revision ID: ugo@shadowrobot.com-20110523154405-kwvv543sy9wxehzi
Huge merge from trunk. Lots of changes.

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shadow_robot/sr_hand/launch/sr_arm_muscle.launch
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  <!--
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           shadowarm 
 
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           shadowarm
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                        -->
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  <node pkg="sr_hand" name="shadowarm"
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        type="shadowarm_virtual" >
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    <param name="gazebo_joint_states_prefix" type="string" value="gazebo/" />
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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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  </node>
 
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  <!-- Robot state publisher: publishes tf information regarding the
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       positions of the arm -->
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  <node pkg="robot_state_publisher" type="state_publisher"
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        name="robot_state_publisher_pos_arm">      
 
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        name="robot_state_publisher_pos_arm">
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    <remap from="robot_description" to="arm_description"/>
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    <remap from="joint_states" to="/sr_arm/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="sr_arm/position" />
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  </node>
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  <!-- Robot state publisher: publishes tf information regarding the 
 
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  <!-- Robot state publisher: publishes tf information regarding the
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       targets of the arm -->
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  <node pkg="robot_state_publisher" type="state_publisher"
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        name="robot_state_publisher_target_arm">      
 
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        name="robot_state_publisher_target_arm">
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    <remap from="robot_description" to="arm_description"/>
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    <remap from="joint_states" to="sr_arm/target/joint_states" />
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    <param name="publish_frequency" type="double" value="1.0" />
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  <!--
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           shadowhand 
 
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           shadowhand
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                         -->
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  <node pkg="sr_hand" name="shadowhand"
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        type="shadowhand_virtual" >
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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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  <!-- 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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        name="srh_robot_state_publisher_pos">
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    <remap from="robot_description" to="hand_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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  <!-- 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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        name="srh_robot_state_publisher_target">
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    <remap from="robot_description" to="hand_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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  <!--
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     publishes fixed transform: to link the arm and the hand
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     for both targets and positions + a fixed transform to a fixed 
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     point at 0 0 0, to remap the arm base for both positions and 
 
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     for both targets and positions + a fixed transform to a fixed
 
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     point at 0 0 0, to remap the arm base for both positions and
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     targets.
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                                                                    -->
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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 -1.571 3.141 -1.571 /sr_arm/position/shadowarm_handsupport_muscle /srh/position/forearm_muscle 100" />
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  <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_target" args="0 0 0 -1.571 3.141 -1.571 /sr_arm/target/shadowarm_handsupport_muscle /srh/target/forearm_muscle 100" />
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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/shadowarm_base 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/shadowarm_base 100" />
 
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 <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_pos" args="0 0 0 3.14159 0 0 /sr_arm/position/shadowarm_handsupport_muscle /srh/position/forearm_muscle 100" />
 
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  <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_target" args="0 0 0 3.14159 0 0 /sr_arm/target/shadowarm_handsupport_muscle /srh/target/forearm_muscle 100" />
 
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  <!--
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     Diagnostic Aggregator
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                          -->
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  <node pkg="diagnostic_aggregator" type="aggregator_node"
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        name="sr_diagnostic_aggregator" >
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    <rosparam command="load" 
 
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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>