rtmros_tutorials/hrpsys_gazebo_tutorials/launch/hrp2jsknt_hrpsys_bringup.launch at be0518032b3e447753647d3bfd2c96d71b13c3a7 · start-jsk/rtmros_tutorials · GitHub

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<launch>
  <arg name="KINEMATICS_MODE" default="false"/>
  <arg name="LOOPBACK_MODE" default="false"/>

  <group if="$(arg LOOPBACK_MODE)">
    <param name="robot_description"
           textfile="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
    <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
      <param name="publish_frequency" type="double" value="100.0" />
    </node>
  </group>

  <rosparam command="load"
            file="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT_controller_config_for_moveit.yaml" />
  <!-- <rosparam command="load" -->
  <!--           file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" /> -->

  <!-- HRP3HAND parameters -->
  <env name="HC_IOB_HRPSYS_GAZEBO_IOB_NAME" value="hrp3hand_hrpsys_gazebo_iob" />
  <env name="HC_IOB_HRPSYS_GAZEBO_ROBOTNAME" value="HRP3HAND" />
  <env name="HC_IOB_HRPSYS_GAZEBO_CONFIGURATION" value="hrp3hand_hrpsys_gazebo_configuration" />

  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
    <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
    <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge_tutorials)/models" />
    <arg name="USE_INSTANCE_NAME" value="true" />
    <arg name="HRPSYS_PY_PKG" value="hrpsys_ros_bridge_tutorials"/>
    <arg name="HRPSYS_PY_NAME" default="hrp2jsknt_hrpsys_config.py"/>
    <arg name="KINEMATICS_MODE" value="$(arg KINEMATICS_MODE)"/>
    <arg name="HRPSYS_RATE"  value="250" />
    <arg name="HRPSYS_ADDITIONAL_LOAD_PATH" value="$(find jsk_hrp2_ros_bridge)/lib/gazebo"/> <!-- HRP3HANDController -->
    <arg name="HRPSYS_OPT_RTC_CONFIG_ARGS" default='-o "example.HRP3HandController.config_file:$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT.conf"'/> <!-- HRP3HANDController -->
  </include>

  <!-- HRP3HANDControllerServiceROSBridge -->
  <env name="LANG" value="C" />
  <env name="ORBgiopMaxMsgSize" value="2147483648" />
  <arg name="nameserver" default="localhost" />
  <arg name="corbaport" default="15005" />
  <arg name="managerport" default="2810" />
  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
  <env name="RTC_CONNECTION_CHECK_ONCE" value="true" />

  <node pkg="jsk_hrp2_ros_bridge" name="HRP3HandControllerServiceROSBridge" type="HRP3HandControllerServiceROSBridgeComp"
        output="screen" args='-o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/rtc%p.log"' />
  <rtconnect from="HRP3HandControllerServiceROSBridge.rtc:HRP3HandControllerService" to="hc.rtc:HRP3HandControllerService" subscription_type="new"/>
  <rtactivate component="HRP3HandControllerServiceROSBridge.rtc" />
  <node name="rtmlaunch_hrp2jsknt_hrpsys_bridgup" pkg="openrtm_tools" type="rtmlaunch.py" args="$(find hrpsys_gazebo_tutorials)/launch/hrp2jsknt_hrpsys_bringup.launch" output="screen"/>

</launch>