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[feat] add xarm_bringup/launch/uf850_server.launch
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| <launch> | ||
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| <arg name="robot_ip" /> | ||
| <arg name="report_type" default="normal" /> | ||
| <arg name="ns" default="ufactory" /> | ||
| <!-- Important: currently real xArm can be either controlled by API service or Moveit planner, but not at the same time! --> | ||
| <!-- If you use moveit, use the launch file in xarm*_moveit_config package for startup! --> | ||
| <arg name="use_moveit" default="false" /> | ||
| <arg name="use_gripper_action" default="false" /> | ||
| <arg name="velocity_control" default="false"/> | ||
| <arg name="enforce_limits" default="true" /> | ||
| <arg name="baud_checkset" default="true" /> | ||
| <arg name="default_gripper_baud" default="2000000" /> | ||
| <arg name="show_rviz" default="false" /> | ||
| <arg name="add_gripper" default="false" /> | ||
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| <rosparam file="$(find uf_robot_moveit_config)/config/uf850/uf850_params.yaml" command="load" ns="$(arg ns)"/> | ||
| <rosparam if="$(arg use_moveit)" file="$(find uf_robot_moveit_config)/config/uf850/joint_limits.yaml" command="load" ns="$(arg ns)"/> | ||
| <param name="$(arg ns)/uf_model" value="XARM" /> | ||
| <!-- common: bring up node to collect robot feedback --> | ||
| <include file="$(find xarm_bringup)/launch/xarm_driver_common.launch"> | ||
| <arg name="robot_ip" value="$(arg robot_ip)" /> | ||
| <arg name="report_type" value="$(arg report_type)" /> | ||
| <arg name="dof" value="6" /> | ||
| <arg name="robot_type" value="uf850" /> | ||
| <arg name="use_moveit" value="$(arg use_moveit)" /> | ||
| <arg name="namespace" value="$(arg ns)" /> | ||
| <arg name="velocity_control" value="$(arg velocity_control)" /> | ||
| <arg name="enforce_limits" value="$(arg enforce_limits)" /> | ||
| <arg name="baud_checkset" value="$(arg baud_checkset)" /> | ||
| <arg name="default_gripper_baud" value="$(arg default_gripper_baud)" /> | ||
| <arg name="show_rviz" value="$(arg show_rviz)" /> | ||
| <arg name="add_gripper" value="$(arg add_gripper)" /> | ||
| </include> | ||
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| <!-- the node for xarm gripper action server --> | ||
| <node if="$(arg use_gripper_action)" | ||
| name="gripper_action_server" | ||
| pkg="xarm_gripper" | ||
| type="gripper_action_server" | ||
| respawn="false" | ||
| output="screen" | ||
| ns="$(arg ns)"/> | ||
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| </launch> |