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add 280 m5、pi pump and camera launch file
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mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch
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| <launch> | ||
| <!-- <arg name="port" default="/dev/ttyUSB0" /> | ||
| <arg name="baud" default="115200" /> --> | ||
| <!-- Load file model ，加载文件模型--> | ||
| <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange.urdf"/> | ||
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| <arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> | ||
| <arg name="gui" default="true" /> | ||
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| <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> | ||
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| <!-- Combinejoin values to TF，将值合并到TF --> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> | ||
| <!-- <param name="use_gui" value="$(arg gui)" /> --> | ||
| <!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> --> | ||
| </node> | ||
| <!-- Open control script --> | ||
| <!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> | ||
| <param name="port" type="string" value="$(arg port)" /> | ||
| <param name="baud" type="int" value="$(arg baud)" /> | ||
| </node> --> | ||
| <!-- Show in Rviz ，显示在Rviz--> | ||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> | ||
| </launch> |
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|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <launch> | ||
| <!-- <arg name="port" default="/dev/ttyUSB0" /> | ||
| <arg name="baud" default="115200" /> --> | ||
| <!-- Load file model ，加载文件模型--> | ||
| <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/> | ||
| <arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" /> | ||
| <arg name="gui" default="true" /> | ||
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| <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> | ||
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| <!-- Combinejoin values to TF，将值合并到TF --> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> | ||
| <!-- <param name="use_gui" value="$(arg gui)" /> --> | ||
| <!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> --> | ||
| </node> | ||
| <!-- Open control script --> | ||
| <!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> | ||
| <param name="port" type="string" value="$(arg port)" /> | ||
| <param name="baud" type="int" value="$(arg baud)" /> | ||
| </node> --> | ||
| <!-- Show in Rviz ，显示在Rviz--> | ||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> | ||
| </launch> |
25 changes: 25 additions & 0 deletions
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mycobot_280/mycobot_280pi/launch/slider_control_camera_flange.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| <launch> | ||
| <!-- <arg name="port" default="/dev/ttyUSB0" /> | ||
| <arg name="baud" default="115200" /> --> | ||
| <!-- Load file model ，加载文件模型--> | ||
| <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_camera_flange.urdf"/> | ||
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| <arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" /> | ||
| <arg name="gui" default="true" /> | ||
|
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| <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> | ||
|
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||
| <!-- Combinejoin values to TF，将值合并到TF --> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> | ||
| <!-- <param name="use_gui" value="$(arg gui)" /> --> | ||
| <!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> --> | ||
| </node> | ||
| <!-- Open control script --> | ||
| <!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> | ||
| <param name="port" type="string" value="$(arg port)" /> | ||
| <param name="baud" type="int" value="$(arg baud)" /> | ||
| </node> --> | ||
| <!-- Show in Rviz ，显示在Rviz--> | ||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> | ||
| </launch> |
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mycobot_280/mycobot_280pi/launch/slider_control_pump.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <launch> | ||
| <!-- <arg name="port" default="/dev/ttyUSB0" /> | ||
| <arg name="baud" default="115200" /> --> | ||
| <!-- Load file model ，加载文件模型--> | ||
| <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_pump.urdf"/> | ||
| <arg name="rvizconfig" default="$(find mycobot_280pi)/config/mycobot.rviz" /> | ||
| <arg name="gui" default="true" /> | ||
|
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| <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> | ||
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||
| <!-- Combinejoin values to TF，将值合并到TF --> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> | ||
| <!-- <param name="use_gui" value="$(arg gui)" /> --> | ||
| <!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> --> | ||
| </node> | ||
| <!-- Open control script --> | ||
| <!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> | ||
| <param name="port" type="string" value="$(arg port)" /> | ||
| <param name="baud" type="int" value="$(arg baud)" /> | ||
| </node> --> | ||
| <!-- Show in Rviz ，显示在Rviz--> | ||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> | ||
| </launch> |