bitbots_main/src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch at 22beea014a5972d86ac29c0f5bb61c869942846a · bit-bots/bitbots_main · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
<?xml version="1.0"?>
<launch>
    <arg name="sim" default="false"/>
    <arg name="viz" default="false"/>


    <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
        <arg name="sim" value="$(var sim)"/>
    </include>

    <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
        <arg name="sim" value="$(var sim)"/>
    </include>

    <!-- launch the base footprint -->
    <node pkg="humanoid_base_footprint" exec="base_footprint" output="screen">
      <param name="support_state_topics" value="[walk_support_state, dynamic_kick_support_state]"/>
      <param name="use_sim_time" value="$(var sim)"/>
    </node>

    <!-- launch the odometry -->
    <include file="$(find-pkg-share bitbots_odometry)/launch/odometry.launch">
      <arg name="sim" value="$(var sim)"/>
    </include>


    <group unless="$(var sim)">
        <group unless="$(var viz)">
            <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
            <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
                <remap from="/kick_motor_goals" to="/DynamixelController/command"/>
                <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_config.yaml" />
            </node>
        </group>
    </group>

    <group if="$(var sim)">
        <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
            <remap from="/kick_motor_goals" to="/DynamixelController/command"/>
            <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
        </node>
    </group>

    <group if="$(var viz)">
        <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
            <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
        </node>
        <node pkg="bitbots_utils" exec="motor_goals_viz_helper.py" output="screen" args="--kick" />
        <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share bitbots_dynamic_kick)/config/kick.rviz" />
    </group>
</launch>