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71 lines
3.1 KiB
71 lines
3.1 KiB
<launch>
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<arg name="paused" default="true"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<arg name="rviz" default="false"/>
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<arg name="gpu_lidar" default="false"/>
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<arg name="visualize_lidar" default="false"/>
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<arg name="world" default="worlds/empty.world"/>
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<arg name="dex_wrist" default="false"/>
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<param name="stretch_gazebo/dex_wrist" type="bool" value="$(arg dex_wrist)"/>
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<arg name="model" value="$(find stretch_gazebo)/urdf/stretch_gazebo_standard_gripper.urdf.xacro" unless="$(arg dex_wrist)"/>
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<arg name="model" value="$(find stretch_gazebo)/urdf/stretch_gazebo_dex_wrist.urdf.xacro" if="$(arg dex_wrist)"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(arg world)" />
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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<arg name="verbose" value="true"/>
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</include>
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<param name="robot_description" command="$(find xacro)/xacro $(arg model) gpu_lidar:=$(arg gpu_lidar) visualize_lidar:=$(arg visualize_lidar)"/>
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<!-- push robot_description to factory and spawn robot in gazebo -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
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args=" -urdf -model robot -param robot_description -J joint_lift 0.2 -J joint_wrist_yaw 3.14" respawn="false" output="screen" />
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
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<param name="publish_frequency" type="double" value="30.0" />
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</node>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>
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<rosparam command="load"
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file="$(find stretch_gazebo)/config/joints.yaml"
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ns="stretch_joint_state_controller" />
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<rosparam command="load"
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file="$(find stretch_gazebo)/config/drive_config.yaml"
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ns="stretch_diff_drive_controller" />
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<rosparam command="load"
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file="$(find stretch_gazebo)/config/arm.yaml"/>
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<rosparam command="load"
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file="$(find stretch_gazebo)/config/head.yaml" />
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<rosparam command="load"
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file="$(find stretch_gazebo)/config/gripper.yaml" />
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<rosparam command="load"
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file="$(find stretch_gazebo)/config/dex_wrist.yaml" if="$(arg dex_wrist)"/>
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<node name="stretch_controller_spawner" pkg="controller_manager" type="spawner"
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args="stretch_joint_state_controller stretch_diff_drive_controller stretch_arm_controller stretch_head_controller stretch_gripper_controller"
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unless="$(arg dex_wrist)"/>
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<node name="stretch_controller_spawner" pkg="controller_manager" type="spawner"
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args="stretch_joint_state_controller stretch_diff_drive_controller stretch_arm_controller stretch_head_controller stretch_gripper_controller stretch_dex_wrist_controller"
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if="$(arg dex_wrist)"/>
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<node name="publish_ground_truth_odom" pkg="stretch_gazebo" type="publish_ground_truth_odom.py" output="screen"/>
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</launch>
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