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copied master launch file from p2os_launch into own project

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Florian Zirker 2018-12-03 16:36:57 +01:00
parent 8ab06b1ddf
commit 90ce72e181
1 changed files with 53 additions and 0 deletions
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launch/pioneerMasterLaunchFile.launch Normal file
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<launch>
<!-- Defining the arguments -->
<arg name="HokuyoLaser" value="0"/>
<arg name="SICKLMSLaser" value="1"/>
<arg name="P2OS_Driver" value="1"/>
<arg name="KeyboardTeleop" value="0"/>
<arg name="JoystickTeleop" value="1"/>
<arg name="Transform" value="1"/>
<arg name="Dashboard" value="0"/>
<arg name="enableMotor" value="1"/>
<group if="$(arg enableMotor)" >
<node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
</group>
<!-- Start the p2os ROS Driver -->
<group if="$(arg P2OS_Driver)" >
<node pkg="p2os_driver" name="p2os_driver" type="p2os_driver"/>
</group>
<!-- Start the Dashboard -->
<group if="$(arg Dashboard)">
<node pkg="p2os_dashboard" name="p2os_dashboard" type="p2os_dashboard"/>
</group>
<!-- Start the teleoperation node for keyboard control -->
<group if="$(arg KeyboardTeleop)">
<include file="$(find p2os_launch)/launch/teleop_keyboard.launch" />
</group>
<!-- Start the teleoperation node for joystick control -->
<group if="$(arg JoystickTeleop)">
<include file="$(find p2os_launch)/launch/teleop_joy.launch" />
</group>
<!-- Publish the required transform -->
<group if="$(arg Transform)">
<include file="$(find p2os_launch)/launch/tf_base_link_to_laser.launch" />
</group>
<!-- Start the Hokuyo Laser node if Hokuyo Laser is used -->
<group if="$(arg HokuyoLaser)">
<include file="$(find p2os_launch)/launch/hokuyo.launch" />
</group>
<!-- Start the SICK LMS Laser Node if a SICK Laser is used -->
<group if="$(arg SICKLMSLaser)">
<include file="$(find p2os_launch)/launch/sicklms.launch" />
</group>
<include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
</launch>