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simulation_rosrag_test.launch
simulation_rosrag_test.launch 2.18 KiB
<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"/>
<node name="safety_zone_monitor" pkg="panda_mqtt_connector" type="safety_zone_monitor" respawn="false" output="screen"/>
<node name="MqttRosConnectionTestNode" pkg="panda_mqtt_connector" type="MqttRosConnectionTestNode" respawn="false" output="screen"/>
<node name="acceleration_publisher" pkg="panda_mqtt_connector" type="acceleration_publisher" respawn="false" output="screen"/>
<node name="rqt_multiplot" pkg="rqt_multiplot" type="rqt_multiplot" args="--force-discover" />
<!-- <node name="plotter" pkg="panda_mqtt_connector" type="plotter.py" respawn="false" output="screen"/>-->
<!-- <node name="transform_riz" pkg="topic_tools" type="transform" args="--wait-for-start /panda_mqtt_connector/robot_in_zone /panda_mqtt_connector/robot_in_zone_number std_msgs/Float64 -- 'm.zone*-1'" />-->
<node name="transform_mqtt" pkg="topic_tools" type="transform" args="--wait-for-start /panda_mqtt_connector/mqtt_message /panda_mqtt_connector/next_step std_msgs/Int16 -- '-1*(m.topic=="ros2rag/nextStep")'" />
<!-- <node name="rqt_plot" pkg="rqt_plot" type="rqt_plot" respawn="false" output="screen" args="/gazebo/link_states/pose[10]/position/x:y:z /panda_mqtt_connector/velocity /panda_mqtt_connector/max_velocity /panda_mqtt_connector/robot_in_zone_number" /> -->
</launch>