22 lines
1.1 KiB
XML
22 lines
1.1 KiB
XML
<launch>
|
|
<!-- Enable rviz visualization -->
|
|
<arg name="rviz" default="true" />
|
|
<!-- Set nodes on debug mode -->
|
|
<arg name="debug" default="false" />
|
|
|
|
<!-- The URDF model of the robot -->
|
|
<arg name="urdfFile" value="$(find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/urdf/j2n6s300.urdf" />
|
|
<!-- The task file for the mpc. -->
|
|
<arg name="taskFile" value="$(find ocs2_mobile_manipulator)/config/kinova/task_j2n6.info" />
|
|
<!-- The library folder to generate CppAD codegen into -->
|
|
<arg name="libFolder" value="$(find ocs2_mobile_manipulator)/auto_generated/kinova/j2n6" />
|
|
|
|
<include file="$(find ocs2_mobile_manipulator_ros)/launch/include/mobile_manipulator.launch">
|
|
<arg name="rviz" value="$(arg rviz)" />
|
|
<arg name="debug" value="$(arg debug)" />
|
|
<arg name="urdfFile" value="$(arg urdfFile)" />
|
|
<arg name="taskFile" value="$(arg taskFile)" />
|
|
<arg name="libFolder" value="$(arg libFolder)" />
|
|
</include>
|
|
</launch>
|