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32 lines
1.3 KiB
32 lines
1.3 KiB
<launch>
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<arg name="urdf_file" value="$(find stretch_description)/urdf/stretch.urdf"/>
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<arg name="controller_yaml_file" value="$(find stretch_core)/config/controller_calibration_head.yaml"/>
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<arg name="calibration_directory" value="$(env HELLO_FLEET_PATH)/$(env HELLO_FLEET_ID)/calibration_ros/"/>
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<!-- REALSENSE D435i -->
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<include file="$(find stretch_core)/launch/d435i_low_resolution.launch" />
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<node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen" >
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<param name="initial_mode" type="string" value="High Accuracy"/>
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</node>
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<!-- -->
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<!-- STRETCH DRIVER -->
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<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
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<param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
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<include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
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<!-- -->
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<!-- LASER RANGE FINDER -->
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<include file="$(find stretch_core)/launch/rplidar.launch" />
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<!-- -->
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<!-- KEYBOARD TELEOP -->
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<node name="keyboard_teleop" pkg="stretch_core" type="keyboard_teleop" output="screen" args=''/>
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<!-- -->
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<!-- VISUALIZE -->
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<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_core)/rviz/wheel_odometry_test.rviz" />
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<!-- -->
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</launch>
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