bitbots_main/src/bitbots_misc/bitbots_bringup/launch/motion.launch at 914d6a1315378e27e681a6c3a855da0bbed63dbd · bit-bots/bitbots_main · GitHub

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<?xml version="1.0"?>
<launch>
    <arg name="sim" default="false"/>
    <arg name="viz" default="false"/>
    <arg name="walking" default="false" description="start the walking" /> <!--should be removed-->
    <arg name="rl_policies" default="true" description="start the policies" />
    <arg name="torqueless_mode" default="false" description="start without torque, for example for testing the falling detection"/>
    <arg name="tts" default="true" description="Whether to speak" />

    <!-- 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>

    <!-- if not in simulation or visualization, launch ros_control -->
    <group unless="$(var sim)">
        <group unless="$(var viz)">
            <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch">
                <arg name="torqueless_mode" value="$(var torqueless_mode)" />
                <arg name="tts" value="$(var tts)" />
            </include>
            <node name="set_volume" pkg="bitbots_utils" exec="set_volume.sh" args="100%" />
        </group>
    </group>

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

    <!-- launch the head mover -->
    <include file="$(find-pkg-share bitbots_head_mover)/launch/head_mover.launch">
        <arg name="sim" value="$(var sim)" />
    </include>

    <!-- launch the old walking - exists for debug purpose-->
    <group if="$(var walking)">
        <include file="$(find-pkg-share bitbots_quintic_walk)/launch/quintic_walk.launch">
            <arg name="sim" value="$(var sim)"/>
            <arg name="viz" value="$(var viz)"/>
        </include>
    </group>

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

    <!-- launch the kick (currently disabled)
        <include file="$(find-pkg-share bitbots_dynamic_kick)/launch/dynamic_kick.launch">
            <arg name="sim" value="$(var sim)"/>
        </include>
    -->


     <!--launch rl policies -->
    <include file="$(find-pkg-share bitbots_rl_motion)/launch/rl_motion.launch">
        <arg name="sim" value="$(var sim)"/>
    </include>

    <!-- launch dynup -->
    <include file="$(find-pkg-share bitbots_dynup)/launch/dynup.launch">
        <arg name="sim" value="$(var sim)"/>
        <arg name="viz" value="$(var viz)"/>
    </include>
</launch>