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Commit 726c279

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author
Andrew Lui
committed
revise tf broadcast to tf2_ros and add functions to pose_tools as a consequence, added launch files
1 parent 0a65e52 commit 726c279

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7 files changed

+649
-31
lines changed

7 files changed

+649
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launch/default.launch

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1,19 +1,17 @@
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<launch>
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<arg name="namespace" default="task_trees" doc="The namespace for the project" />
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<arg name="use_gui" default="false" />
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<arg name="use_rviz" default="true" />
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<arg name="use_rviz" default="false" />
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<arg name="default" default="true" />
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<arg name="sim_robot" default="true" />
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<group if="$(arg default)">
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<node pkg="robotarchi" type="robot_server_agent.py" name="robot_server_agent" output="screen">
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</node>
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</group>
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<group if="$(arg sim_robot)">
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<include file="$(find ur10_scene_config)/launch/demo.launch">
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<arg name="use_gui" default="$(arg use_gui)" />
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<arg name="use_rviz" default="$(arg use_rviz)" />
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</include>
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</group>
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<arg name="rvizconfig" default="$(find arm_commander)/launch/default.rviz" />
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<node if="$(arg use_rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>

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