-
Notifications
You must be signed in to change notification settings - Fork 3
/
kuka.launch
23 lines (20 loc) · 1.33 KB
/
kuka.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
<?xml version="1.0"?>
<launch>
<group ns="/iiwa">
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find demonstrator6_description)/config/ros_controllers_eff_traj.yaml" command="load"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find demonstrator6_description)/urdf/iiwa_gripper.urdf.xacro'" />
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="effort_trajectory_controller gripper_left_effort_controller gripper_right_effort_controller joint_state_controller">
</node>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
</node>
<node name="joint_state_relay" pkg="topic_tools" type="relay" args="/joint_states /iiwa/joint_states"/>
</group>
<node name="manager_module" pkg="iba_multimodule_experiment" type="manager_module.py" respawn="false" output="screen"/>
<node name="cerebellum" pkg="demonstrator6" type="iba_cerebellum.py" respawn="false" output="screen"/>
<node name="reactive_component" pkg="demonstrator6" type="iba_reactive_component.py" respawn="false" output="screen"/>
</launch>