rtmros_choreonoid/hrpsys_choreonoid/launch/ros_bridge_choreonoid.launch at b0da7198a5269c992689192563e4d1e9013ed33c · ishiguroJSK/rtmros_choreonoid · GitHub

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<launch>
  <arg name="SIMULATOR_NAME" />
  <arg name="MODEL_FILE"   />
  <arg name="COLLADA_FILE" />
  <arg name="CONF_FILE"    />
  <arg name="RUN_RVIZ" default="false" />

  <arg name="corbaport" default="15005" />
  <arg name="managerport" default="15006" />

  <arg name="USE_WALKING"             default="true"  />
  <arg name="USE_COLLISIONCHECK"      default="false" />
  <arg name="USE_IMPEDANCECONTROLLER" default="true"  />
  <arg name="USE_GRASPCONTROLLER"     default="false" />
  <arg name="USE_SERVOCONTROLLER"     default="false" />
  <arg name="USE_TORQUECONTROLLER"    default="false" />
  <arg name="USE_SOFTERRORLIMIT"      default="false" />
  <arg name="USE_TORQUEFILTER"        default="false" />
  <!--arg name="USE_IMAGESENSOR" default="false" /-->
  <arg name="USE_EMERGENCYSTOPPER"    default="true"  />
  <arg name="USE_REFERENCEFORCEUPDATER" default="true" />
  <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" default="true" />
  <arg name="USE_HRPSYS_PROFILE"      default="true"  />
  <arg name="USE_VELOCITY_OUTPUT"     default="true"  />

  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch">
    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
    <arg name="MODEL_FILE"   value="$(arg MODEL_FILE)" />
    <arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
    <arg name="CONF_FILE"    value="$(arg CONF_FILE)" />
    <arg name="corbaport" default="$(arg corbaport)" />
    <arg name="managerport" default="$(arg managerport)" />
    <!-- unstable RTC -->
    <arg name="USE_WALKING"               value="$(arg USE_WALKING)" />
    <arg name="USE_COLLISIONCHECK"        value="$(arg USE_COLLISIONCHECK)" />
    <arg name="USE_IMPEDANCECONTROLLER"   value="$(arg USE_IMPEDANCECONTROLLER)" />
    <arg name="USE_GRASPCONTROLLER"       value="$(arg USE_GRASPCONTROLLER)" />
    <arg name="USE_SERVOCONTROLLER"       value="$(arg USE_SERVOCONTROLLER)" />
    <arg name="USE_TORQUECONTROLLER"      value="$(arg USE_TORQUECONTROLLER)" />
    <arg name="USE_SOFTERRORLIMIT"        value="$(arg USE_SOFTERRORLIMIT)" />
    <arg name="USE_TORQUEFILTER"          value="$(arg USE_TORQUEFILTER)" />
    <!--arg name="USE_IMAGESENSOR"           value="$(arg USE_IMAGESENSOR)" /-->
    <arg name="USE_EMERGENCYSTOPPER"      value="$(arg USE_EMERGENCYSTOPPER)" />
    <arg name="USE_REFERENCEFORCEUPDATER" value="$(arg USE_REFERENCEFORCEUPDATER)" />
    <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" value="$(arg USE_OBJECTCONTACTTURNAROUNDDETECTOR)" />
    <arg name="USE_HRPSYS_PROFILE"        value="$(arg USE_HRPSYS_PROFILE)" />
    <arg name="USE_VELOCITY_OUTPUT"       value="$(arg USE_VELOCITY_OUTPUT)" />

    <!-- for choreonoid -->
    <arg name="periodic_rate" value="100" />
    <arg name="USE_ROBOT_POSE_EKF" default="false" />
    <!--arg name="BASE_LINK" default="" /-->
    <env name="RTC_CONNECTION_CHECK_ONCE" value="true" />
  </include>

  <!--group if="$(arg RUN_RVIZ)" >
    <node name="choreonoid_rviz" pkg="rviz" type="rviz" respawn="true"
          args="-sync -d $(find hrpsys_choreonoid)/launch/choreonoid.rviz" />
  </group-->
</launch>