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simulation_rosrag.launch

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  • simulation_rosrag.launch 921 B
    <launch>
        <arg name="mqtt_server" default=""/>
        <include file="$(find panda_simulation)/launch/simulation.launch"/>
    
        <!-- the launch file parameter mqtt_server overrides the config file parameter -->
        <rosparam file="$(find panda_mqtt_connector)/config/config.yaml" command="load" />
        <rosparam unless="$(eval arg('mqtt_server') == '')" param="panda_mqtt_connector/server" subst_value="True">$(arg mqtt_server)</rosparam>
    
        <node name="TimedPlanner" pkg="panda_mqtt_connector" type="TimedPlanner" respawn="false" output="screen"/>
        <node name="MqttToRosNode" pkg="panda_mqtt_connector" type="MqttToRosNode" respawn="false" output="screen"/>
        <node name="RobotStateProvider" pkg="panda_mqtt_connector" type="RobotStateProvider" respawn="false" output="screen"/>
        <node name="safety_zone_spawner" pkg="panda_mqtt_connector" type="safety_zone_spawner" respawn="false" output="screen"/>
    </launch>