47 lines
1.7 KiB
Python
Executable File
47 lines
1.7 KiB
Python
Executable File
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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config_file = PathJoinSubstitution([
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FindPackageShare("xr_rm_bringup"),
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"config",
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LaunchConfiguration("robot_config"),
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])
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return LaunchDescription([
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DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
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DeclareLaunchArgument("udp_port", default_value="15000"),
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DeclareLaunchArgument("robot_ip", default_value="192.168.192.19"),
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DeclareLaunchArgument("robot_port", default_value="8080"),
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DeclareLaunchArgument("robot_config", default_value="single_arm_rm75.yaml"),
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Node(
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package="xr_rm_input",
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executable="udp_controller_receiver",
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name="udp_controller_receiver",
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output="screen",
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parameters=[{
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"udp_host": LaunchConfiguration("udp_host"),
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"udp_port": LaunchConfiguration("udp_port"),
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"topic": "/xr/right_controller",
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}],
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),
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Node(
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package="xr_rm_teleop",
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executable="single_arm_velocity_teleop",
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name="single_arm_velocity_teleop",
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output="screen",
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parameters=[
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config_file,
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{
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"use_mock": False,
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"robot_ip": LaunchConfiguration("robot_ip"),
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"robot_port": LaunchConfiguration("robot_port"),
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},
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],
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),
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])
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