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aggiunta config lancio senza rviz, rallenta la VM

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Emanuele
2019-10-23 10:47:59 +02:00
parent 244d0effdc
commit a8149e5f72
2 changed files with 76 additions and 2 deletions
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src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch Normal file
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<launch>
<!-- Set logger format -->
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}]: ${message}" />
<!-- <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />-->
<!-- Start ROS official URobotics controller -->
<include file="$(find ur_robot_driver)/launch/ur10e_bringup.launch">
<arg name="robot_ip" value="10.0.0.5" />
</include>
<!-- Start moveit API interface-->
<include file="$(find ur10_e_moveit_config)/launch/ur10_e_moveit_planning_execution.launch">
<!-- <arg name="robot_ip" value="10.0.0.5" /> -->
</include>
<!-- Common parameter Server -->
<group ns="roboglue_ros_common">
<param name="INstate" type="string" value="/roboglue_com/com2ros/state" />
<param name="INcommands" type="string" value="/roboglue_com/com2ros/commands" />
<param name="INcoordinates" type="string" value="/roboglue_com/com2ros/coordinates" />
<param name="OUTstate" type="string" value="/roboglue_com/ros2com/state" />
<param name="OUTcommands" type="string" value="/roboglue_com/ros2com/commands" />
<param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
<param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
<param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
<param name="OUTtraj_jog" type="string" value="/pos_based_pos_traj_controller/command" />
<param name="robot_model_name" type="string" value="robot_description" />
<param name="move_group_name" type="string" value="manipulator" />
<param name="loop_rate" type="int" value="100" />
<param name="msg_buffer" type="int" value="100" />
<param name="min_nonzero_move" type="double" value="0.005" />
</group>
<!-- Message Relay to/from MQTT -->
<node name="roboglue_ros_relay" pkg="roboglue_ros" type="roboglue_ros_relay" output="screen" required="true">
<param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
<param name="mqtt_host" type="string" value="tcp://localhost:1883" />
<param name="mqtt_qos" type="int" value="0" />
<param name="mqtt_INstate" type="string" value="roboglue_com/com2ros/state" />
<param name="mqtt_INcommands" type="string" value="roboglue_com/com2ros/commands" />
<param name="mqtt_INcoordinates" type="string" value="roboglue_com/com2ros/coordinates" />
<param name="mqtt_OUTstate" type="string" value="roboglue_com/ros2com/state" />
<param name="mqtt_OUTcommands" type="string" value="roboglue_com/ros2com/commands" />
<param name="mqtt_OUTcoordinates" type="string" value="roboglue_com/ros2com/coordinates" />
</node>
<!-- Real Time Tracking -->
<node name="roboglue_ros_follower" pkg="roboglue_ros" type="roboglue_ros_follower" output="screen" required="true">
<param name="parameter_ns" type="string" value="roboglue_ros_common" />
<param name="jog_pub_rate" type="int" value="5" />
</node>
<!-- Tracking data Recorder/Player -->
<node name="roboglue_ros_recorder" pkg="roboglue_ros" type="roboglue_ros_recorder" output="screen" required="true">
<param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
<param name="point_group_mode" type="string" value="dist" />
<param name="planning_mode" type="string" value="path" />
<param name="meta_dir" type="string" value="/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/config/meta/" />
<param name="data_dir" type="string" value="/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/config/data/" />
<param name="meta_ext" type="string" value=".meta" />
<param name="data_ext" type="string" value=".data" />
<param name="meta_template" type="string" value="@meta_template.meta" />
<param name="data_template" type="string" value="@data_template.data" />
</node>
<!-- <param name="planning_mode" type="string" value="joint" /> -->
<!-- <param name="point_group_mode" type="string" value="time" /> -->
</launch>