Commit a9a07b6a authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

more cleanup

I was unable to correct for evalution of the current date
parent d2d02950
......@@ -9,16 +9,16 @@
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
</include> -->
<arg name="limited" default="false"/>
<arg name="debug" default="false" />
<arg name="sim" default="true" />
<arg name="limited" default="false"/>
<arg name="debug" default="false" />
<arg name="sim" default="true" />
<!-- rviz -->
<node pkg="rviz" type="rviz" name="rviz"
<!-- rviz -->
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find pitasc_common)/launch/pitasc_3d.rviz" if="$(arg gui)"/>
<node name="simulator" pkg="microsim" type="micro_simulator.py" output="screen">
<node name="simulator" pkg="microsim" type="micro_simulator.py" output="screen">
<param name="tool_frame" value="ee_link"/>
<rosparam param="initial_state">
shoulder_pan_joint: 0.0
......@@ -31,12 +31,11 @@
<rosparam param="delay">0</rosparam>
<rosparam param="position_noise_std">0</rosparam>
<rosparam param="wrench_noise_std">0</rosparam>
</node>
</node>
<!-- republish the joint velocities from a C++ node (https://gitlab.cc-asp.fraunhofer.de/pitasc/pitasc/-/issues/367) -->
<node name="joint_vel_republisher" pkg="microsim" type="joint_vel_republisher_node" output="screen" />
<!-- republish the joint velocities from a C++ node (https://gitlab.cc-asp.fraunhofer.de/pitasc/pitasc/-/issues/367) -->
<node name="joint_vel_republisher" pkg="microsim" type="joint_vel_republisher_node" output="screen" />
<!-- <param name="robot_description" command="$(find xacro)/xacro - -inorder '$(find peg_in_hole)/urdf/ur10_robotiq2F.urdf.xacro'" /> -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
<!-- <node name="robot_model" pkg="gazebo_ros" type="spawn_model"
......@@ -92,8 +91,8 @@
<!-- <node name="pitasc_http_server" pkg="pitasc_http" type="http_server.py" /> -->
<node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<rosparam param="folder">/home/ipa325/Documents/test</rosparam>
<param name="T" value="8" />
<param name="folder" value="$(find ilc)/logs/ilc_proxy" />
</node>
<!-- <node name="ilc_rosproxy2" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
......
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