From 58483f91b74095ad66fc9ad0740a09c0710f4a5e Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Wed, 19 Jun 2019 16:18:00 +0200
Subject: [PATCH] Add a launchfile for the calibration correction

This way, it is not necessary to have a roscore running when doing the calibration extraction.
---
 ur_calibration/CMakeLists.txt                      |  2 ++
 .../launch/calibration_correction.launch           | 14 ++++++++++++++
 2 files changed, 16 insertions(+)
 create mode 100644 ur_calibration/launch/calibration_correction.launch

diff --git a/ur_calibration/CMakeLists.txt b/ur_calibration/CMakeLists.txt
index 6b8c026..08fb31e 100644
--- a/ur_calibration/CMakeLists.txt
+++ b/ur_calibration/CMakeLists.txt
@@ -173,6 +173,8 @@ target_link_libraries(calibration_correction
 #   # myfile2
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 #############
 ## Testing ##
diff --git a/ur_calibration/launch/calibration_correction.launch b/ur_calibration/launch/calibration_correction.launch
new file mode 100644
index 0000000..ae2f982
--- /dev/null
+++ b/ur_calibration/launch/calibration_correction.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="robot_ip"/>
+  <arg name="robot_name"/>
+  <arg name="output_package_name" default="ur_calibration"/>
+  <arg name="subfolder_name" default="etc"/>
+
+  <node name="calibration_correction" pkg="ur_calibration" type="calibration_correction" respawn="false" output="screen">
+    <param name="robot_ip" value="$(arg robot_ip)"/>
+    <param name="robot_name" value="$(arg robot_name)"/>
+    <param name="output_package_name" value="$(arg output_package_name)"/>
+    <param name="subfolder_name" value="$(arg subfolder_name)"/>
+  </node>
+</launch>