29 lines
1.1 KiB
XML
29 lines
1.1 KiB
XML
<?xml version="1.0" ?>
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<launch>
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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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<!-- Configuration for rviz file -->
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<arg name="rvizconfig" value="$(find ocs2_mobile_manipulator_ros)/rviz/mobile_manipulator_distance.rviz" />
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<!-- make the files into global parameters -->
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<param name="urdfFile" value="$(arg urdfFile)" />
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<param name="taskFile" value="$(arg taskFile)" />
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<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/visualize.launch">
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<arg name="urdfFile" value="$(arg urdfFile)" />
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<arg name="rvizconfig" value="$(arg rvizconfig)" />
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</include>
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<!-- Open joint_state_publisher for alma_c_description with GUI for debugging -->
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<node name="mobile_manipulator_joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" output="screen">
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<param name="rate" value="100" />
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</node>
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<node pkg="ocs2_mobile_manipulator_ros" type="mobile_manipulator_distance_visualization" name="mobile_manipulator_distance_visualization" output="screen" />
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</launch> |