Commit f63f963c authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

.launch for usb app

parent 7b50d809
<?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 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">/home/ipa325/Documents/ilc_Datas</rosparam>
</node>
<node pkg="weiss_kms40" type="Kms40Driver" name="kms40" output="screen" cwd="node">
<rosparam param="host">192.168.0.30</rosparam>
<rosparam param="port">1000</rosparam>
<rosparam param="frame">kms40_low</rosparam>
</node>
<node name="kms_frame_meas" pkg="tf" type="static_transform_publisher"
args="0 0 0 1 0 0 0 ee_link kms40_meas 100"/>
<node name="kms_frame_rel" pkg="tf" type="static_transform_publisher"
args="0 0 0 1 1 1 1 kms40_meas kms40 100"/>
<node name="ipa325_wsg50" pkg="ipa325_wsg50" type="schunk_gripper">
<param name="ip" value="192.168.1.20"/>
<param name="port" value="1000"/>
</node>
<node name="ilc_rosproxy1" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<rosparam param="folder">/home/ipa325/Documents/USB/push_in</rosparam>
</node>
<node name="ilc_rosproxy2" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<rosparam param="folder">/home/ipa325/Documents/USB/push_out</rosparam>
</node>
<node name="ilc_rosproxy3" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<rosparam param="folder">/home/ipa325/Documents/USB/lin_left</rosparam>
</node>
<node name="ilc_rosproxy4" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<rosparam param="folder">/home/ipa325/Documents/USB/lin_up</rosparam>
</node>
<node name="ilc_rosproxy5" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<rosparam param="folder">/home/ipa325/Documents/USB/lin_down</rosparam>
</node>
<node name="ilc_rosproxy6" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
<rosparam param="T">8</rosparam>
<rosparam param="folder">/home/ipa325/Documents/USB/lin_right</rosparam>
</node>
</launch>
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