From 8354d478bc7fb47f5f5c2d317121b36ab9b5adcc Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Mon, 17 Oct 2016 11:36:08 +0200
Subject: [PATCH] Added missing depends and completed bringup
---
...{talos_hardware.yaml => talos_full_hardware.yaml} | 0
talos_bringup/launch/talos_bringup.launch | 12 ++++++++++--
.../launch/talos_default_controllers.launch | 1 +
talos_controller_configuration/package.xml | 6 ++++++
4 files changed, 17 insertions(+), 2 deletions(-)
rename talos_bringup/config/{talos_hardware.yaml => talos_full_hardware.yaml} (100%)
diff --git a/talos_bringup/config/talos_hardware.yaml b/talos_bringup/config/talos_full_hardware.yaml
similarity index 100%
rename from talos_bringup/config/talos_hardware.yaml
rename to talos_bringup/config/talos_full_hardware.yaml
diff --git a/talos_bringup/launch/talos_bringup.launch b/talos_bringup/launch/talos_bringup.launch
index 886b90d..5f2fb7a 100644
--- a/talos_bringup/launch/talos_bringup.launch
+++ b/talos_bringup/launch/talos_bringup.launch
@@ -1,13 +1,21 @@
<launch>
- <arg name="robot" default="full_ft_hey5"/>
+ <arg name="robot" default="full"/>
+ <!-- Hardware configuration -->
+ <rosparam command="load" file="$(find talos_bringup)/config/talos_$(arg robot)_hardware.yaml" />
+
<!-- Load default controllers -->
<include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="50.0" />
+ <param name="publish_frequency" type="double" value="100.0" />
<param name="tf_prefix" type="string" value="" />
</node>
+
+ <!-- Robot model -->
+ <include file="$(find talos_description)/robots/upload_talos.launch" >
+ <arg name="robot" value="$(arg robot)"/>
+ </include>
</launch>
diff --git a/talos_controller_configuration/launch/talos_default_controllers.launch b/talos_controller_configuration/launch/talos_default_controllers.launch
index 0c50dac..fa08364 100644
--- a/talos_controller_configuration/launch/talos_default_controllers.launch
+++ b/talos_controller_configuration/launch/talos_default_controllers.launch
@@ -1,4 +1,5 @@
<launch>
+
<!-- Joint state controller -->
<rosparam command="load" file="$(find joint_state_controller)/joint_state_controller.yaml" />
diff --git a/talos_controller_configuration/package.xml b/talos_controller_configuration/package.xml
index 315e7c5..0953b54 100644
--- a/talos_controller_configuration/package.xml
+++ b/talos_controller_configuration/package.xml
@@ -10,6 +10,12 @@
<buildtool_depend>catkin</buildtool_depend>
+ <run_depend>imu_sensor_controller</run_depend>
+ <run_depend>force_torque_sensor_controller</run_depend>
+ <run_depend>joint_trajectory_controller</run_depend>
+ <run_depend>controller_manager</run_depend>
+ <run_depend>joint_state_controller</run_depend>
+
<export>
</export>
--
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