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Aggiornalo launch con i nuovi topic

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Emanuele
2019-10-29 11:06:33 +01:00
parent 8778f69eb9
commit ad07d2f1ca
1 changed files with 7 additions and 3 deletions
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10
src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
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@@ -19,9 +19,11 @@
<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="INinterface" type="string" value="/roboglue_com/com2ros/interface" />
<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="OUTinterface" type="string" value="/roboglue_com/ros2com/interface" />
<!-- ROS movement topics (For UR official driver use scalable position controller) -->
<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" />
@@ -40,28 +42,30 @@
<!-- 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="startup_msg" type="string" value='{"STARTUP":"RELAY"}'/>
<param name="startup_msg" type="string" value="STARTUP_RELAY"/>
<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_INinterface" type="string" value="roboglue_com/com2ros/interface" />
<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" />
<param name="mqtt_OUTinterface" type="string" value="roboglue_com/ros2com/interface" />
</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="startup_msg" type="string" value='{"STARTUP":"FOLLOWER"}'/>
<param name="startup_msg" type="string" value="STARTUP_FOLLOWER"/>
<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="startup_msg" type="string" value='{"STARTUP":"RECORDER"}'/>
<param name="startup_msg" type="string" value="STARTUP_RECORDER"/>
<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/" />