geometric_simu.launch

<!-- -*-xml-*-
     Handle ROS simulation of the SoT.
  -->
<launch>
  <!-- Which robot are we controlling ? -->
  <arg name="robot" default="pyrene" />
  <arg name="libsot" default="libsot-pyrene-controller.so" />

  <arg name="sot-launch-prefix" default="" />

  <include file="$(find sot_pyrene_bringup)/launch/geometric_simu_context.launch" >
    <arg name="robot" value="$(arg robot)" />
    <arg name="libsot" value="$(arg libsot)" />
  </include>

  <!-- Load Stack of Tasks. -->
  <node machine="geometric_simu_machine"
        name="node_stack_of_tasks"
	pkg="dynamic_graph_bridge"
	type="geometric_simu"
        args=" --input-file $(arg libsot)"
        launch-prefix="$(arg sot-launch-prefix)"
	respawn="true">
    <param name="/sot/dg/geometric_simu" value="" />
  </node>


</launch>