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Commit 6d9e39d2 authored by Olivier Stasse's avatar Olivier Stasse
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[launch] Split the launch files for gazebo to start in a more control 

way gazebo.
parent c771c504
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launch/talos_gazebo_alone.launch 0 → 100644
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View file @ 6d9e39d2
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="start_half_sitting" default="true"/>
<arg name="world" default="empty"/> <!-- empty, small_office, ... (see ../worlds) -->
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="recording" default="false"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<arg name="foot_collision" default="thinbox"/>
<arg name="enable_leg_passive" default="false"/>
<arg name="enable_fixed_robot" default="false"/>
<arg name="default_configuration_type" default="zeros"/>
<env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.00 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" if="$(arg start_half_sitting)"/>
<!-- start up world -->
<include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
<arg name="world" value="$(arg world)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="recording" value="$(arg recording)"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include>
<group if="$(arg load_model)">
<include file="$(find talos_data)/robots/upload.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" default="$(arg foot_collision)"/>
<arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
<arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
<arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
</include>
</group>
<!-- spawn robot in simulation -->
<!-- <include file="$(find talos_gazebo)/launch/talos_spawn.launch"> -->
<!-- <arg name="robot" value="$(arg robot)"/> -->
<!-- <arg name="gzpose" value="$(arg gzpose)"/> -->
<!-- </include> -->
<!-- default controllers -->
<!-- <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch"/> -->
<!-- <include file="$(find talos_bringup)/launch/talos_bringup.launch" /> -->
</launch>
launch/talos_gazebo_spawn_hs.launch 0 → 100644
+ 18
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View file @ 6d9e39d2
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
launch/talos_gazebo_spawn_hs_wide.launch 0 → 100644
+ 18
− 0
View file @ 6d9e39d2
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
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