bringup_ur5.launch 1.41 KB
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<?xml version="1.0"?>

<launch>
    <arg name="gui" default="true"/>

<!-- rviz -->
<node pkg="rviz" type="rviz" name="rviz"
        args="-d $(find pitasc_common)/launch/pitasc_3d.rviz" if="$(arg gui)"/>


<!--node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/-->

<!-- ROS control -->
<rosparam command="load" file="$(find pitasc_controller)/controller/pitasc_controller.yaml"/>

<!-- robot driver (official) -->
        <include file="$(find ur_robot_driver)/launch/ur5_bringup.launch">
            <arg name="robot_ip" value="172.16.10.20"/>
            <arg name="headless_mode" value="true"/>
            <arg name="controller_config_file" value="$(find ur_robot_driver)/config/ur5_controllers.yaml"/>
            <arg name="robot_description_file" value="$(find ur_description)/launch/ur5_upload.launch"/>
            <arg name="tf_prefix" value=""/>
            <arg name="controllers" default="joint_state_controller speed_scaling_state_controller force_torque_sensor_controller pitasc_vel_control"/>
            <arg name="stopped_controllers" default="joint_group_vel_controller"/>

            <arg name="kinematics_config" default="$(find ilc)/cfg/ur5_siemens.yaml"/>
        </include>


<node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
    <rosparam param="T">8</rosparam>
    <!-- <rosparam param="folder">/tmp/ilc_folder</rosparam> -->
</node>

</launch>