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Add launch file for panda

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This commit is contained in:
Michel Breyer 2021-09-09 13:26:01 +02:00
parent 83b2c173cd
commit 35bb9eaff0
1 changed files with 25 additions and 0 deletions
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launch/panda.launch Normal file
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<?xml version="1.0" ?>
<launch>
<!-- Parameters -->
<arg name="launch_rviz" default="false" />
<arg name="robot_ip" default="172.16.0.2" />
<!-- Transforms -->
<node pkg="tf2_ros" type="static_transform_publisher" name="to_world" args="0 0 0 0 0 0 world panda_link0" />
<node pkg="tf2_ros" type="static_transform_publisher" name="to_camera" args="0.03226862 -0.06137175 0.04107702 0.00099995 0. 0.39898185 0.91695828 panda_link8 camera_depth_optical_frame" />
<!-- Launch camera driver -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="enable_pointcloud" value="true" />
<arg name="publish_tf" value="false" />
</include>
<!-- Launch panda driver -->
<include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<!-- <arg name="load_robot_description" value="$(arg load_robot_description)" /> -->
</include>
<!-- Launch rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
</launch>