You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
32 lines
1.2 KiB
32 lines
1.2 KiB
<launch>
|
|
|
|
<arg name="urdf_file" value="$(find stretch_description)/urdf/stretch.urdf"/>
|
|
<arg name="controller_yaml_file" value="$(find stretch_core)/config/controller_calibration_head.yaml"/>
|
|
<arg name="calibration_directory" value="$(env HELLO_FLEET_PATH)/$(env HELLO_FLEET_ID)/calibration_ros/"/>
|
|
|
|
<!-- REALSENSE D435i -->
|
|
<include file="$(find stretch_core)/launch/d435i_high_resolution.launch"></include>
|
|
<node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen">
|
|
<param name="initial_mode" type="string" value="High Accuracy"/>
|
|
</node>
|
|
<!-- -->
|
|
|
|
<!-- STRETCH DRIVER -->
|
|
<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
|
|
<include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
|
|
<!-- -->
|
|
|
|
<!-- ARUCO MARKER DETECTOR -->
|
|
<include file="$(find stretch_core)/launch/stretch_aruco.launch"></include>
|
|
<!-- -->
|
|
|
|
<!-- KEYBOARD TELEOP -->
|
|
<node name="keyboard_teleop" pkg="stretch_core" type="keyboard_teleop" output="screen" args=''/>
|
|
<!-- -->
|
|
|
|
<!-- VISUALIZE -->
|
|
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_core)/rviz/stretch_simple_test.rviz">
|
|
</node>
|
|
<!-- -->
|
|
|
|
</launch>
|