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

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<?xml version="1.0"?>
<launch>
  <arg name="sim" default="false"/>
  <arg name="use_darwin" 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="$(var use_darwin)">
      <group unless="$(var sim)">
        <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
      </group>
  </group>

  <group if="$(var sim)">
    <node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
        <remap from="/walking_motor_goals" to="/DynamixelController/command"/>
        <param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_sim.yaml"/>
    </node>
  </group>
  <group unless="$(var sim)">
    <node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
        <param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_real.yaml"/>
    </node>
  </group>


</launch>