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Merge pull request #30 from INTERACT-tud-amr/ft_multidingo
Ft multidingo
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,11 +1,45 @@ | ||
object_names: | ||
- "dingo1" | ||
- "dingo2" | ||
- "tablesmall_1" | ||
- "tablesmall_2" | ||
- "cup1" | ||
- "cup2" | ||
- "wineglass" | ||
- "dynamic_object2" | ||
object_msg_types: # "geometry_msgs/{PoseStamped,TransformStamped,PoseWithCovarianceStamped}" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
object_frame_ids: | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
object_frequency_divider: | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
object_publish_topics: | ||
- "/vicon/dingo1" | ||
|
||
- "/vicon/dingo2" | ||
- "/vicon/tablesmall_1" | ||
- "/vicon/tablesmall_2" | ||
- "/vicon/cup1" | ||
- "/vicon/cup2" | ||
- "/vicon/wineglass" | ||
- "/vicon/dynamic_object2" |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,16 +1,45 @@ | ||
object_names: | ||
- "dingo1" | ||
- "dingo2" | ||
- "mug1" | ||
- "tablesmall_1" | ||
- "tablesmall_2" | ||
- "cup1" | ||
- "cup2" | ||
- "wineglass" | ||
- "dynamic_object2" | ||
object_msg_types: # "geometry_msgs/{PoseStamped,TransformStamped,PoseWithCovarianceStamped}" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
- "geometry_msgs/PoseStamped" | ||
object_frame_ids: | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
- "map" | ||
object_frequency_divider: | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
- 2 | ||
object_publish_topics: | ||
- "/vicon/dingo1" | ||
- "/vicon/dingo2" | ||
- "/vicon/mug1" | ||
|
||
- "/vicon/tablesmall_1" | ||
- "/vicon/tablesmall_2" | ||
- "/vicon/cup1" | ||
- "/vicon/cup2" | ||
- "/vicon/wineglass" | ||
- "/vicon/dynamic_object2" |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,30 +1,35 @@ | ||
<?xml version="1.0"?> | ||
<launch> | ||
<!-- Vicon --> | ||
<arg name="vicon" default="false" /> | ||
<arg name="vicon_config_file" default="$(find dinova_bringup)/config/vicon_$(env ROBOT_NAME).yaml"/> | ||
|
||
<group ns="$(env ROBOT_NAME)"> | ||
<param name="vicon/use_vicon" type="bool" value="$(arg vicon)" /> | ||
<param name="vicon/dingo_topic" type="string" value="/vicon/$(env ROBOT_NAME)" /> | ||
|
||
<!-- Robot model --> | ||
<param name="robot_description" command="$(find xacro)/xacro '$(find dinova_description)/urdf/kinova.xacro'"/> | ||
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" > | ||
<remap from="/joint_states" to="/kinova/joint_states" /> | ||
</node> | ||
<!-- Robot model --> | ||
<param name="robot_description" command="$(find xacro)/xacro '$(find dinova_description)/urdf/kinova.xacro'"/> | ||
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" > | ||
<remap from="joint_states" to="kinova/joint_states" /> | ||
<param name="tf_prefix" value="$(env ROBOT_NAME)"/> | ||
</node> | ||
|
||
<!-- Teleoperation via joystick and rviz interactive markers --> | ||
<include file="$(find dingo_control)/launch/teleop.launch" /> | ||
<!-- Teleoperation via joystick and rviz interactive markers --> | ||
<include file="$(find dinova_control)/launch/dingo_teleop.launch" /> | ||
|
||
<!-- Vicon --> | ||
<arg name="vicon" default="true" /> | ||
<arg name="vicon_config_file" default="$(find dinova_bringup)/config/vicon_$(env ROBOT_NAME).yaml"/> | ||
<param name="/vicon/use_vicon" type="bool" value="$(arg vicon)" /> | ||
<param name="/vicon/dingo_topic" type="string" value="/vicon/$(env ROBOT_NAME)" /> | ||
|
||
<rosparam command="load" file="$(find dinova_control)/config/config.yaml" /> | ||
<node name="kinova_driver" pkg="dinova_control" type="kinova_driver.py" args="" output="screen"/> | ||
|
||
<rosparam command="load" file="$(find dinova_control)/config/config.yaml" /> | ||
<node name="kinova_driver" pkg="dinova_control" type="kinova_driver.py" args="" output="screen"/> | ||
<!-- Vicon Nodes --> | ||
<group if="$(arg vicon)"> | ||
<rosparam ns="vicon/object_specific" command="load" file="$(arg vicon_config_file)"/> | ||
<include file="$(find dinova_bringup)/launch/vicon.launch"/> | ||
<!-- TODO: modify this --> | ||
<!-- <node pkg="tf" type="static_transform_publisher" name="$(env ROBOT_NAME)_static_tf" args="0 0 0 0 0 0 $(env ROBOT_NAME) $(env ROBOT_NAME)/base_link 0.1" /> --> | ||
</group> | ||
|
||
<!-- Vicon Nodes --> | ||
<!-- <group if="$(eval arg('vicon') == 'true')"> | ||
<rosparam ns="vicon/object_specific" command="load" file="$(arg vicon_config_file)"/> | ||
<include file="$(find dinova_bringup)/launch/vicon.launch"/> | ||
</group> --> | ||
</group> | ||
|
||
</launch> |
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