From 1108e70dcb70b0ea1202b24a9516bf63551728ed Mon Sep 17 00:00:00 2001
From: Vivian Chu <vchu@gatech.edu>
Date: Wed, 2 Aug 2017 12:37:38 -0400
Subject: [PATCH 1/2] start_robot_services.launch

---
 .../launch/start_robot_services.launch        | 24 +++++++++++--------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/hlpr_bringup/launch/start_robot_services.launch b/hlpr_bringup/launch/start_robot_services.launch
index 05df0db..bbd6523 100644
--- a/hlpr_bringup/launch/start_robot_services.launch
+++ b/hlpr_bringup/launch/start_robot_services.launch
@@ -14,8 +14,8 @@
     <arg name="nav_rviz" default="true"/>
 
     <!-- Arm and Gripper Drivers -->
-    <arg name="jaco_arm" default="true"/>
-    <arg name="jaco_7dof_arm" default="false"/> <!-- WARNING: don't have both arms set true-->
+    <arg name="jaco_arm" default="true"/> <!-- WARNING: Not used anymore -->
+    <arg name="jaco_arm_driver" default="true"/> <!-- Do you start the jaco arm driver -->
     <arg name="gripper_actions" default="false"/>
     <arg name="pub_eef" default="true"/>
     <arg name="eef_link" default="/right_ee_link"/>
@@ -69,14 +69,18 @@
     </group>
 
     <!-- JACO ARM AND GRIPPER-->
-    <include file="$(find wpi_jaco_wrapper)/launch/arm.launch" if="$(arg jaco_arm)">
-        <arg name="sim" value="$(arg sim)"/>
-    </include>
-    <include file="$(find kinova_bringup)/launch/arm.launch" if="$(arg jaco_7dof_arm)">
-        <arg name="sim" value="$(arg sim)"/>
-    </include>
+    <group if="$(arg jaco_arm_driver)">
+        <include file="$(find wpi_jaco_wrapper)/launch/arm.launch" unless="$(optenv VECTOR_HAS_KINOVA_7DOF_ARM false)">
+            <arg name="sim" value="$(arg sim)"/>
+        </include>
+        <include file="$(find kinova_bringup)/launch/arm.launch" if="$(optenv VECTOR_HAS_KINOVA_7DOF_ARM false)">
+            <arg name="sim" value="$(arg sim)"/>
+        </include>
+    </group>
 
     <node name="gripper_actions" pkg="robotiq_85_gripper_actions" type="gripper_actions" respawn="false" output="screen" if="$(arg gripper_actions)"/>
+
+    <!-- publish EEF relative to base -->
     <node name="eef_pub" pkg="hlpr_record_demonstration" type="eef_publisher.py" respawn="false" output="screen" if="$(arg pub_eef)">
         <param name="eef_link" value="$(arg eef_link)"/>
     </node>
@@ -84,7 +88,7 @@
     <!-- MOVEIT -->
     <group if="$(arg jaco_moveit)">
         <!-- Start moveit: This starts regular 6dof -->
-        <include file="$(find hlpr_wpi_jaco_moveit_config)/launch/hlpr_wpi_jaco_simple_moveit.launch" unless="$(arg jaco_7dof_arm)">
+        <include file="$(find hlpr_wpi_jaco_moveit_config)/launch/hlpr_wpi_jaco_simple_moveit.launch" unless="$(optenv VECTOR_HAS_KINOVA_7DOF_ARM false)">
                 <arg name="custom_sdf" value="$(find poli_moveit_config)/config/vector.srdf" if="$(arg poli_urdf)"/>
                 <arg name="custom_sdf" value="$(find prentice_moveit_config)/config/vector.srdf" if="$(arg prentice_urdf)"/>
                 <arg name="use_wpi_jaco_exec" value="true"/>
@@ -93,7 +97,7 @@
         </include>
 
         <!-- Startup moveit 7dof if 7dof arm -->
-        <include file="$(find hlpr_j2s7s300_moveit_config)/launch/hlpr_simple_moveit.launch" if="$(arg jaco_7dof_arm)">
+        <include file="$(find hlpr_j2s7s300_moveit_config)/launch/hlpr_simple_moveit.launch" if="$(optenv VECTOR_HAS_KINOVA_7DOF_ARM false)">
                 <arg name="custom_sdf" value="$(find poli_moveit_config)/config/vector.srdf" if="$(arg poli_urdf)"/>
                 <arg name="custom_sdf" value="$(find prentice_moveit_config)/config/vector.srdf" if="$(arg prentice_urdf)"/>
                 <arg name="use_hlpr_traj_exec" value="true"/>

From def3503441836f0d97b72aa4a03a002e5babcb85 Mon Sep 17 00:00:00 2001
From: Vivian Chu <vchu@gatech.edu>
Date: Wed, 2 Aug 2017 12:39:00 -0400
Subject: [PATCH 2/2] add in slight changes for 7dof

---
 hlpr_bringup/launch/customize_start_robot_services.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/hlpr_bringup/launch/customize_start_robot_services.launch b/hlpr_bringup/launch/customize_start_robot_services.launch
index 5493ee0..0750530 100644
--- a/hlpr_bringup/launch/customize_start_robot_services.launch
+++ b/hlpr_bringup/launch/customize_start_robot_services.launch
@@ -14,11 +14,11 @@
         <arg name="nav_rviz" default="true"/>
 
         <!-- Arm and Gripper Drivers -->
-        <arg name="jaco_arm" default="true"/>
-        <arg name="jaco_7dof_arm" default="false"/> <!-- WARNING: don't have both arms set true-->
+        <arg name="jaco_arm_driver" default="true"/>
         <arg name="gripper_actions" default="true"/>
         <arg name="pub_eef" default="true"/>
-        <arg name="eef_link" default="/right_ee_link"/>
+        <arg name="eef_link" default="/j2s7s300_ee_link" if="$(optenv VECTOR_HAS_KINOVA_7DOF_ARM false)"/>
+        <arg name="eef_link" default="/right_ee_link" unless="$(optenv VECTOR_HAS_KINOVA_7DOF_ARM false)"/>
 
         <!-- Moveit packages -->
         <arg name="jaco_moveit" default="true"/>