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58 lines
2.4 KiB
58 lines
2.4 KiB
<launch>
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<arg name="optimization_result_yaml_file"/>
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<arg name="calibrated_controller_yaml_file"/>
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<arg name="calibrated_urdf_file"/>
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<arg name="calibration_directory" value="$(env HELLO_FLEET_PATH)/$(env HELLO_FLEET_ID)/calibration_ros/"/>
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<arg name="uncalibrated_controller_calibration_filename" value="$(find stretch_core)/config/controller_calibration_head_factory_default.yaml"/>
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<arg name="uncalibrated_urdf_filename" value="$(find stretch_description)/urdf/stretch_uncalibrated.urdf"/>
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<!-- PROCESS CALIBRATION DATA -->
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<rosparam command="load" file="$(find stretch_calibration)/config/head_calibration_options.yaml" />
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<node name="process_head_calibration_data" pkg="stretch_calibration" type="process_head_calibration_data" output="screen" args="--only_vis --load $(arg optimization_result_yaml_file)">
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<param name="calibration_directory" type="string" value="$(arg calibration_directory)"/>
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<param name="uncalibrated_controller_calibration_filename" type="string" value="$(arg uncalibrated_controller_calibration_filename)"/>
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<param name="uncalibrated_urdf_filename" type="string" value="$(arg uncalibrated_urdf_filename)"/>
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</node>
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<!-- -->
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<!-- STRETCH DRIVER -->
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<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
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<param name="robot_description"
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textfile="$(arg calibrated_urdf_file)"/>
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<node
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name="joint_state_publisher"
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pkg="joint_state_publisher"
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type="joint_state_publisher" >
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<param name="rate" value="15.0"/>
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<param name="use_gui" value="False"/>
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<rosparam param="source_list">
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[/stretch/joint_states]
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</rosparam>
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</node>
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" >
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<param name="publish_frequency" value="15.0"/>
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</node>
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<node name="stretch_driver" pkg="stretch_core" type="stretch_driver" output="screen">
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<param name="rate" type="double" value="25.0"/>
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<param name="timeout" type="double" value="0.5"/>
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<remap from="cmd_vel" to="/stretch/cmd_vel" />
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<remap from="joint_states" to="/stretch/joint_states" />
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<param name="controller_calibration_file" type="string" value="$(arg calibrated_controller_yaml_file)"/>
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</node>
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<!-- -->
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<!-- VISUALIZE CALIBRATION -->
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<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_calibration)/rviz/head_calibration.rviz" />
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<!-- -->
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</launch>
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