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7dof #1

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1108e70
start_robot_services.launch
vchu Aug 2, 2017
def3503
add in slight changes for 7dof
vchu Aug 2, 2017
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6 changes: 3 additions & 3 deletions hlpr_bringup/launch/customize_start_robot_services.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
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24 changes: 14 additions & 10 deletions hlpr_bringup/launch/start_robot_services.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down Expand Up @@ -69,22 +69,26 @@
</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>

<!-- 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"/>
Expand All @@ -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"/>
Expand Down