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aggiornato launch con rviz

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Emanuele
2019-11-12 11:36:54 +01:00
parent b03c2e73bc
commit b98948ce17
1 changed files with 20 additions and 7 deletions
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27
src/roboglue_ros/launch/roboglue_ros_urdriver.launch
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@@ -1,6 +1,6 @@
<launch>
<!-- Set logger format -->
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}]: ${message}" />
<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}][${line}]: ${message}" />
<!-- <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />-->
<!-- Start ROS official URobotics controller -->
@@ -20,48 +20,58 @@
<!-- Common parameter Server -->
<group ns="roboglue_ros_common">
<!-- ROS internal topics -->
<param name="INstate" type="string" value="/roboglue_com/com2ros/state" />
<param name="INcommands" type="string" value="/roboglue_com/com2ros/commands" />
<param name="INcoordinates" type="string" value="/roboglue_com/com2ros/coordinates" />
<param name="INinterface" type="string" value="/roboglue_com/com2ros/interface" />
<param name="OUTstate" type="string" value="/roboglue_com/ros2com/state" />
<param name="OUTcommands" type="string" value="/roboglue_com/ros2com/commands" />
<param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
<param name="OUTinterface" type="string" value="/roboglue_com/ros2com/interface" />
<!-- ROS movement topics (For UR official driver use scalable position controller) -->
<param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
<param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
<param name="OUTtraj_jog" type="string" value="/pos_based_pos_traj_controller/command" />
<param name="OUTtraj_jog" type="string" value="/scaled_pos_traj_controller/command" />
<!-- ROS robot model description and defaults -->
<param name="robot_model_name" type="string" value="robot_description" />
<param name="move_group_name" type="string" value="manipulator" />
<param name="min_nonzero_move" type="double" value="0.005" />
<param name="joint_jump_tresh" type="double" value="45.0" />
<param name="default_frame_name" type="string" value= "/world"/>
<rosparam command="load" file="$(find roboglue_ros)/config/jointDefaults.yaml" />
<!-- ROS node loop parameters -->
<param name="startup_msg" type="string" value="STARTUP"/>
<param name="shutdown_msg" type="string" value="SHUTDOWN"/>
<param name="heartbeat_msg" type="string" value="HB"/>
<param name="loop_rate" type="int" value="100" />
<param name="msg_buffer" type="int" value="100" />
<param name="joint_jump_tresh" type="double" value="45.0" />
<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="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="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="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/" />
@@ -72,4 +82,7 @@
<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>