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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
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| <!-- This is a helper launch file for panda.launch | ||
| As roslaunch doesn't allow for empty ns arguments and to avoid code duplication, | ||
| we factored out code here that should run either in or out a namespace. | ||
| All arguments are simply inherited from the parent launch file. | ||
| --> | ||
| <param name="robot_description" | ||
| command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro | ||
| gazebo:=true | ||
| hand:=$(arg use_gripper) | ||
| arm_id:=$(arg arm_id) | ||
| ns:=$(arg ns) | ||
| xyz:='$(arg x) $(arg y) $(arg z)' | ||
| rpy:='$(arg roll) $(arg pitch) $(arg yaw)'"> | ||
| </param> | ||
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| <rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" /> | ||
| <rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" /> | ||
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| <param name="m_ee" value="0.76" if="$(arg use_gripper)" /> | ||
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| <!-- Avoid node names of the form arm_id/arm_id_xxx. Use arm_id/xxx instead. --> | ||
| <arg name="node_prefix" value="$(eval '' if arg('ns') == arg('arm_id') else arg('arm_id') + '_')" /> | ||
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| <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" /> | ||
| <node name="$(arg node_prefix)model_spawner" | ||
| pkg="gazebo_ros" | ||
| type="spawn_model" | ||
| args="-param robot_description -urdf -model $(arg arm_id) $(arg unpause) | ||
| $(arg initial_joint_positions) | ||
| "/> | ||
|
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| <!-- Spawn required ROS controllers --> | ||
| <node pkg="controller_manager" | ||
| type="spawner" | ||
| name="$(arg node_prefix)gripper_spawner" | ||
| if="$(arg use_gripper)" | ||
| args="franka_gripper" | ||
| respawn="false" | ||
| /> | ||
|
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| <node pkg="controller_manager" | ||
| type="spawner" | ||
| name="$(arg node_prefix)controller_spawner" | ||
| respawn="false" output="screen" | ||
| args="franka_state_controller $(arg controller)" | ||
| /> | ||
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| <node name="$(arg node_prefix)robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="$(arg node_prefix)joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher"> | ||
| <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam> | ||
| <param name="rate" value="30"/> | ||
| </node> | ||
|
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| <!-- Start only if cartesian_impedance_example_controller --> | ||
| <node name="$(arg node_prefix)cartesian_goal_marker" | ||
| pkg="franka_example_controllers" | ||
| type="interactive_marker.py" | ||
| if="$(eval arg('controller') == 'cartesian_impedance_example_controller')"> | ||
| <param name="link_name" value="$(arg arm_id)_link0" /> | ||
| <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" /> | ||
| </node> | ||
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| </launch> |
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