38 lines
1.7 KiB
XML
38 lines
1.7 KiB
XML
<?xml version="1.0" ?>
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<launch>
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<!-- Enable rviz visualization -->
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<arg name="rviz" default="true" />
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<!-- Set nodes on debug mode -->
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<arg name="debug" default="false" />
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<!-- The URDF model of the robot -->
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<arg name="urdfFile" />
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<!-- The task file for the mpc. -->
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<arg name="taskFile" />
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<!-- The library folder to generate CppAD codegen into -->
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<arg name="libFolder" />
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<!-- make the files into global parameters -->
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<param name="taskFile" value="$(arg taskFile)" />
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<param name="urdfFile" value="$(arg urdfFile)" />
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<param name="libFolder" value="$(arg libFolder)" />
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<group if="$(arg rviz)">
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<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/visualize.launch">
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<arg name="urdfFile" value="$(arg urdfFile)" />
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</include>
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</group>
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<node if="$(arg debug)" pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_mpc_node" name="mobile_manipulator_mpc_node"
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output="screen" launch-prefix="gnome-terminal -- gdb -ex run --args" />
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<node unless="$(arg debug)" pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_mpc_node" name="mobile_manipulator_mpc_node"
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output="screen" launch-prefix="" />
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<node pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_dummy_mrt_node" name="mobile_manipulator_dummy_mrt_node"
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output="screen" launch-prefix="gnome-terminal --" />
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<node if="$(arg rviz)" pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_target" name="mobile_manipulator_target"
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output="screen" launch-prefix="" />
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</launch>
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