36 lines
1.3 KiB
XML
36 lines
1.3 KiB
XML
<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" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/aloha/wx250.urdf" />
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<!-- The task file for the mpc. -->
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<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/aloha/task1.info" />
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<!-- The library folder to generate CppAD codegen into -->
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<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/aloha" />
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<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
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<arg name="rviz" value="$(arg rviz)" />
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<arg name="debug" value="$(arg debug)" />
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<arg name="urdfFile" value="$(arg urdfFile)" />
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<arg name="taskFile" value="$(arg taskFile)" />
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<arg name="libFolder" value="$(arg libFolder)" />
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</include>
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<node
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name="master_right_transform_broadcaster"
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pkg="tf2_ros"
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type="static_transform_publisher"
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args="0.145 -0.26525 0.45694 0.3826834 0 0 0.9238795 /world /wx250/base_link" />
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</launch>
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