Commit 19c5ae87 authored by Max Mirko Polzin's avatar Max Mirko Polzin
Browse files

Launches properly in group.

parent 344904b0
<launch>
<group ns="/electra">
<rosparam ns="/electra_ns" file="$(find electra_hardware_interface)/config/controllers.yaml" command="load" />
<rosparam ns="/electra_ns" file="$(find electra_hardware_interface)/config/joint_limits.yaml" command="load" />
<rosparam file="$(find electra_hardware_interface)/config/controllers.yaml" command="load" />
<rosparam file="$(find electra_hardware_interface)/config/joint_limits.yaml" command="load" />
<arg name="model" default="$(find electra_hardware_interface)/urdf/electra.urdf.xacro" />
<param name="/electra_ns/robot_description" command="$(find xacro)/xacro $(arg model)" />
<arg name="model" default="$(find electra_hardware_interface)/urdf/electra.urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
<node ns="/electra_ns" name="electra_hardware_interface" pkg="electra_hardware_interface" type="electra_hardware_interface" output="screen" />
<node ns="/electra_ns" name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"></node>
<node name="electra_hardware_interface" pkg="electra_hardware_interface" type="electra_hardware_interface" output="screen" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"></node>
<node ns="/electra_ns" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
--namespace=/electra_ns
/electra_ns/joints_update
/electra_ns/velocity_controller
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
--namespace=/electra
/electra/joints_update
/electra/velocity_controller
" />
<!-- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
<!-- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
/electra/joints_update
/electra/force_controller
" /> -->
</group>
</launch>
\ No newline at end of file
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment