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giskardpy_hsr.launch
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giskardpy_hsr.launch
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<launch>
<!--TODO:
delay
paramter if runnung on hsr
real hsr args necessary?-->
<arg name="sim" default="false" />
<arg name="on_hsr" default="false" />
<group if="$(eval arg('sim') == false)">
<include file="$(find giskardpy)/launch/giskardpy_real_hsr.launch">
<arg name="on_hsr" value="$(arg on_hsr)"/>
</include>
</group>
<node pkg="giskardpy" type="giskard_trees.py" name="giskard" output="screen">
<remap if="$(eval arg('sim') == false)" from="/robot_description" to="/giskard/robot_description" />
<param name="config" value="$(find giskardpy)/config/hsr.yaml" />
</node>
<node pkg="giskardpy" type="interactive_marker.py" name="giskard_interactive_marker" output="screen">
<rosparam param="enable_self_collision">False</rosparam>
<rosparam param="interactive_marker_chains">
- [odom, hand_palm_link]
</rosparam>
</node>
</launch>