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.
20 lines
714 B
20 lines
714 B
<launch>
|
|
|
|
<param name="robot_description" command="xacro $(find stretch_description)/urdf/stretch_description.xacro" />
|
|
|
|
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >
|
|
<param name="rate" value="15.0"/>
|
|
<rosparam>
|
|
zeros:
|
|
joint_lift: 0.2
|
|
joint_wrist_yaw: 3.4
|
|
</rosparam>
|
|
</node>
|
|
|
|
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
|
|
<param name="publish_frequency" value="15.0"/>
|
|
</node>
|
|
|
|
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_description)/rviz/stretch.rviz" />
|
|
|
|
</launch>
|