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Copy pathcob4-18.xml
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110 lines (100 loc) · 4.41 KB
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<?xml version="1.0"?>
<launch>
<!-- args -->
<arg name="robot" value="cob4-18"/>
<arg name="cob4-18-b1" default="localhost"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
<arg name="sim" default="false"/>
<arg name="multi_robot" default="false"/>
<!-- upload robot description -->
<include file="$(find cob_hardware_config)/upload_robot.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- upload default configuration parameters -->
<include file="$(find cob_default_robot_config)/upload_param.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<group>
<machine name="$(anon b1)" address="$(arg cob4-18-b1)" env-loader="$(arg env-script)" default="true" timeout="30"/>
<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="pc" value="$(arg cob4-18-b1)"/>
<arg name="enable_ntp_monitoring" value="false"/>
</include>
</group>
<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="host" value="10.4.18.99"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/bms.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_front"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_right"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_left"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/cob4_base.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
<arg name="multi_robot" value="$(arg multi_robot)" />
</include>
<include file="$(find cob_bringup)/drivers/light.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="light_base"/>
<arg name="sim_enabled" value="$(arg sim)"/>
</include>
<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
<arg name="output_scan" value="/scan_unified"/>
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- <include file="$(find cob_bringup)/tools/collision_monitor.launch"> -->
<node pkg="rostopic" type="rostopic" args="pub /safety_controller/state_is_valid std_msgs/Bool 'data: true' -r10" name="fake_collission_monitor" output="screen"/>
<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/battery_monitor.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/teleop.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/tools/docker_control.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="multi_station" default="true"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/tools/robot_state_publisher.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_script_server)/launch/script_server.launch"/>
<!-- simulation only -->
<include if="$(arg sim)" file="$(find cob_bringup)/tools/fake_diagnostics.launch">
<arg name="fake_diagnostics" value="'base_laser_front, base_laser_right, base_laser_left, -b1, joy, safety'"/>
</include>
</group>
<machine name="$(anon b1)" address="$(arg cob4-18-b1)" env-loader="$(arg env-script)" default="true" timeout="30"/>
</launch>