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44 lines
1.4 KiB
44 lines
1.4 KiB
<launch>
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<param name="robot_description" textfile="$(find stretch_description)/urdf/stretch.urdf" />
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<arg name="calibrated_controller_yaml_file" value="$(find stretch_core)/config/controller_calibration_head.yaml"/>
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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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<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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<!-- GUI WITH JOINT SLIDERS -->
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<!--
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<node
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name="joint_state_publisher_gui"
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pkg="joint_state_publisher_gui"
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type="joint_state_publisher_gui" >
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<param name="rate" value="15.0"/>
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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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-->
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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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</launch>
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