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geometric_simu.launch
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geometric_simu.launch
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<launch>
<!-- World setup -->
<arg name="plank_of_wood_id" default="2" />
<arg name="estimation" default="false" />
<arg name="debug-sot" default="false" />
<include file="$(find agimus_demos)/launch/talos_manipulate_boxes_world_setup.launch">
<arg name="plank_of_wood_id" value="$(arg plank_of_wood_id)" />
<arg name="simulation" value="true" />
</include>
<!-- Initialization of robot root_joint pose as a ROS param
value = "x y z X Y Z W" where Xi+Yj+Zk+W is a quaternion -->
<param name="robot_initial_pose"
value="0.1 -0.65 1.0192720229567027 0 0 0.7071067811865476 0.7071067811865476"/>
<group ns="vision">
<node name="publish_constants" pkg="agimus_demos" type="publish_constants.py" required="true"
args="$(find agimus_demos)/talos/common/camera_info.yaml /d435/color/camera_info head_d435_camera_color_optical_frame" />
<!-- rviz with camera simulation -->
<node name="rviz" pkg="rviz" type="rviz"
launch-prefix="$(find agimus)/scripts/ros_synchro --tf-lookup odom,rgbd_rgb_optical_frame -- "
args="-d $(find agimus_demos)/talos/manipulate_boxes/config.rviz" />
</group>
<!-- SoT parameters -->
<arg name="script_file" doc="Full path to the script which initialize the supervisor"
default="$(find agimus_demos)/talos/manipulate_boxes/supervisor.py" />
<include file="$(find sot_pyrene_bringup)/launch/geometric_simu.launch" >
<arg if="$(arg debug-sot)" name="sot-launch-prefix" value="xterm -e gdb --args" />
</include>
<!--This starts the HPP interface in namespace agimus/hpp-->
<group ns="agimus/hpp">
<node name="hpp_node" pkg="agimus-hpp" type="hpp_node.py"
args="hpp-manipulation-server" respawn="true"
output="screen" />
</group>
<!--This starts sot supervisor in namespace agimus/sot-->
<include file="$(find agimus-sot)/launch/supervisor.launch" >
<arg name="script_file" value="$(arg script_file)"/>
<arg name="robot_prefix" value="talos/"/>
<arg name="simulate_torque_feedback" value="true"/>
</include>
<include file="$(find agimus)/launch/path_execution.launch"/>
<include if="$(arg estimation)" file="$(find agimus_demos)/launch/talos_manipulate_boxes_estimation.launch"/>
</launch>