40 lines
1.9 KiB
XML
Executable File
40 lines
1.9 KiB
XML
Executable File
<!--spark description without rviz-->
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<launch>
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<arg name="camera_type_tel" default="astrapro" doc="camera types [asatra, astrapro, d435...]"/>
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<arg name="arm_type_tel" default="uarm" doc="arm types [uarm, sagittarius_arm]"/>
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<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
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<arg name="model" default="$(find spark_description)/robots/spark.urdf.xacro"/>
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<arg name="enable_arm_tel" default="false"/>
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<arg name="use_gui" default="false"/>
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<arg name="publish_default_positions" default="true"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_type_tel:=$(arg camera_type_tel) lidar_type_tel:=$(arg lidar_type_tel)"/>
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<group if="$(eval arg('arm_type_tel')=='sagittarius_arm')">
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="use_gui" value="$(arg use_gui)"/>
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<param name="publish_default_positions" value="$(arg publish_default_positions)" />
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<rosparam param="source_list">[wheel_states,sagittarius_joint_states]</rosparam>
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</node>
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</group>
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<group if="$(eval arg('arm_type_tel')=='uarm')">
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="use_gui" value="$(arg use_gui)"/>
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<param name="publish_default_positions" value="$(arg publish_default_positions)" />
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<rosparam param="source_list">[wheel_states]</rosparam>
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</node>
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</group>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!--show robo with rviz
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<arg name="rvizconfig" default="$(find spark_description)/rviz/urdf.rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> -->
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</launch>
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