control.launch 2.21 KB
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<?xml version="1.0"?>
<launch>
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  <arg name="multimaster" default="$(optenv ROBOT_MULTIMASTER false)"/>
  <arg name="simulation" default="$(optenv ROBOT_SIMULATION false)"/>
  <arg name="robot_namespace" default="$(optenv ROBOT_NAMESPACE robot)"/>

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  # <arg name="config_extras"
      default="$(eval optenv('HUSKY_CONFIG_EXTRAS', find('husky_control') + '/config/empty.yaml'))"/>
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  <arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED false)"/>
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  <arg name="kinect_enabled" default="$(optenv HUSKY_KINECT_ENABLED false)"/>
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  <include file="$(find multimaster_launch)/launch/multimaster_robot.launch" if="$(arg multimaster)">
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    <arg name="gazebo_interface" value="$(find husky_control)/config/gazebo_interface.yaml" />
    <arg name="public_interface" value="$(find husky_control)/config/public_interface.yaml" />
    <arg name="robot_namespace" value="$(arg robot_namespace)"/>
    <arg name="simulation" value="$(arg simulation)"/>
  </include>

  <!-- Load robot description -->
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  <include file="$(find husky_description)/launch/description.launch" >
    <arg name="laser_enabled" default="$(arg laser_enabled)"/>
    <arg name="kinect_enabled" default="$(arg kinect_enabled)"/>
  </include>
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  <!-- Load controller configuration -->
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  <rosparam command="load" file="$(find husky_control)/config/control.yaml" />
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  <!-- Spawn controllers -->
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  <node name="base_controller_spawner" pkg="controller_manager" type="spawner"
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        args="husky_joint_publisher husky_velocity_controller"/>
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  <!-- Start UKF for localization -->
  <node pkg="robot_localization" type="ukf_localization_node" name="ukf_localization">
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    <rosparam command="load" file="$(find husky_control)/config/localization.yaml" />
  </node>
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  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server" output="screen"/>

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  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
    <rosparam command="load" file="$(find husky_control)/config/twist_mux.yaml" />
    <remap from="cmd_vel_out" to="husky_velocity_controller/cmd_vel"/>
  </node>

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  <!-- Override the default control parameters, see config/empty.yaml for default. -->
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</launch>