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Fix the simulation launch file for the pg70 #91

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Fix the simulation launch file for the pg70 #91

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16 changes: 8 additions & 8 deletions schunk_pg70/launch/sim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -9,31 +9,31 @@
<arg name="gui" value="$(arg gui)" />
</include>

<!-- send lwa4d urdf to param server -->
<!-- send pg70 urdf to param server -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find schunk_pg70)/urdf/robot.urdf.xacro'" />

<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model lwa4d -z 0.01 " respawn="false" output="screen" />
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model pg70 -z 0.01 " respawn="false" output="screen" />

<!-- robot state publisher -->
<node ns="gripper" pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<node ns="pg70" pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" type="string" value="" />
</node>

<!-- fake Calibration and HW-Services -->
<node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
<node ns="gripper" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
<node ns="pg70" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>

<!-- controllers -->
<rosparam ns="gripper" command="load" file="$(find schunk_pg70)/config/gripper_controller.yaml" />
<rosparam ns="pg70" command="load" file="$(find schunk_pg70)/config/gripper_controller.yaml" />

<!-- start_controllers -->
<node ns="gripper" name="gripper_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
<node ns="pg70" name="gripper_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>

<!-- control_mode_adapter -->
<node ns="gripper" name="cob_control_mode_adapter_node" pkg="cob_control_mode_adapter" type="cob_control_mode_adapter_node" cwd="node" respawn="false" output="screen"/>
<node ns="gripper" name="joint_states_relay" pkg="topic_tools" type="relay" args="joint_states /joint_states" cwd="node" respawn="true" output="screen"/>
<node ns="pg70" name="cob_control_mode_adapter_node" pkg="cob_control_mode_adapter" type="cob_control_mode_adapter_node" cwd="node" respawn="false" output="screen"/>
<node ns="pg70" name="joint_states_relay" pkg="topic_tools" type="relay" args="joint_states /joint_states" cwd="node" respawn="true" output="screen"/>

<!-- start diagnostics -->
<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
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