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add collision_monitor launch file #455

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merged 3 commits into from
Apr 12, 2016
Merged

add collision_monitor launch file #455

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25ad058
add obstacle_monitor launch file
fmessmer Apr 4, 2016
0c5905d
rename launch file
fmessmer Apr 4, 2016
5335bad
add collision_monitor to cob4-1 and cob4-2
fmessmer Apr 4, 2016
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1 change: 1 addition & 0 deletions cob_bringup/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
<exec_depend>cob_calibration_data</exec_depend>
<exec_depend>cob_cam3d_throttle</exec_depend>
<exec_depend>cob_camera_sensors</exec_depend>
<exec_depend>cob_collision_monitor</exec_depend>
<exec_depend>cob_collision_velocity_filter</exec_depend>
<exec_depend>cob_command_gui</exec_depend>
<exec_depend>cob_control_mode_adapter</exec_depend>
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5 changes: 4 additions & 1 deletion cob_bringup/robots/cob4-1.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -39,10 +39,13 @@
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_left" />
</include>
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

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5 changes: 4 additions & 1 deletion cob_bringup/robots/cob4-2.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -39,10 +39,13 @@
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_left" />
</include>
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

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22 changes: 22 additions & 0 deletions cob_bringup/tools/collision_monitor.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
<?xml version="1.0"?>
<launch>

<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>

<arg name="load_robot_description" default="false"/>
<arg name="pkg_moveit_config" default="$(find cob_moveit_config)"/>

<!-- Load SRDF -->
<include file="$(arg pkg_moveit_config)/launch/planning_context.xml">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
<arg name="robot" value="$(arg robot)" />
<arg name="config_path" value="$(arg pkg_moveit_config)/$(arg robot)/config" />
</include>

<!-- start collision monitor node -->
<node pkg="cob_collision_monitor" type="cob_collision_monitor_node" name="cob_collision_monitor_node">
<remap from="/cob_collision_monitor_node/state_is_valid" to="/safety_controller/state_is_valid"/>
</node>

</launch>