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use new structure for cob3-6
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@fmessmer
fmessmer committed Jan 12, 2017
1 parent 34e09e0 commit 44319a0
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Showing 5 changed files with 81 additions and 264 deletions.
153 changes: 77 additions & 76 deletions cob_bringup/robots/cob3-6.xml
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Expand Up @@ -6,157 +6,158 @@
<arg name="pc1" default="localhost"/>
<arg name="pc2" default="localhost"/>
<arg name="env-script" default="$(find cob_bringup)/env.sh"/>

<arg name="sim" default="false"/>

<!-- upload robot description -->
<include file="$(find cob_hardware_config)/common/upload_robot.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<!-- upload semantic description -->
<include file="$(find cob_moveit_config)/launch/upload_config.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="load_semantic_description" value="true"/>
<arg name="load_planning_context" value="false"/>
</include>

<!-- upload default configuration parameters -->
<include file="$(find cob_default_robot_config)/cob3-6/upload_param_cob3-6.launch" />
<include file="$(find cob_default_robot_config)/$(arg robot)/upload_param_$(arg robot).launch" />

<group>
<machine name="pc1" address="$(arg pc1)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc1)" />
</include>

<!-- monitoring -->
<include file="$(find cob_bringup)/tools/wifi_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/battery_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/battery_voltage_filter.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc1)" />
</include>
<!--include file="$(find cob_bringup)/tools/wifi_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include-->
</group>

<!-- startup hardware -->
<!-- lower robot -->
<include file="$(find cob_bringup)/drivers/sick_s300.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_front" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/sick_s300.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_rear" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/hokuyo.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="base_laser_top" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/drivers/relayboard.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/base_driver.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/controllers/base_controller.launch" >
<include file="$(find cob_bringup)/components/legacy_base.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<!-- upper robot -->
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="torso" />
<arg name="can_device" value="can2" />
<arg name="cartesian_control" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/schunk_powercube_chain_driver.launch" >
<include file="$(find cob_bringup)/components/legacy_schunk_powercube.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="arm" />
<arg name="sim" value="$(arg sim)" />
</include>
<include file="$(find cob_bringup)/controllers/cob_trajectory_controller.launch" >
<include file="$(find cob_bringup)/components/legacy_sdh.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="arm" />
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/legacy_head_axis.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/schunk_sdh.launch" >
<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/head_axis.launch" >
<include file="$(find cob_bringup)/tools/battery_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/drivers/battery_voltage_filter.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<!-- start additional packages -->
<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_bringup)/tools/teleop.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

<!-- aggregated robot_state_publisher -->
<include file="$(find cob_bringup)/tools/robot_state_publisher.launch">
<arg name="robot" value="$(arg robot)" />
</include>

<!-- script server -->
<include file="$(find cob_script_server)/launch/script_server.launch" />

<!-- scan unifier -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<arg name="robot" value="$(arg robot)" />
</include>

</group>

<group>
<machine name="pc2" address="$(arg pc2)" env-loader="$(arg env-script)" default="true" timeout="30"/>

<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc2)" />
</include>
<!-- start hardware -->
<group unless="$(arg sim)">
<include file="$(find cob_bringup)/tools/pc_monitor.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="pc" value="$(arg pc2)" />
</include>

<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="left"/>
</include>
<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="right"/>
</include>
</group>

<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="tray" />
<arg name="can_device" value="can1" />
</include>

<!-- start camera sensors -->
<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="left"/>
</include>
<include file="$(find cob_bringup)/drivers/prosilica.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="name" value="right"/>
</include>
<include file="$(find cob_bringup)/drivers/openni.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<include file="$(find cob_cam3d_throttle)/launch/cam3d_throttle.launch" >
<arg name="namespace" value="/cam3d" />
<arg name="rate" value="1.0" />
<arg name="cartesian_control" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="cam3d"/>
<arg name="device_id" value="#1"/>
<!--arg name="data_skip" value="1"/-->
<arg name="num_worker_threads" value="2"/>
<arg name="start_manager" value="false"/>
<arg name="nodelet_manager" value="cam3d_nodelet_manager"/>
</include>

<!-- start additional packages -->
<include file="$(find cob_bringup)/drivers/sound.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="flip" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/light.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="component_name" value="light" />
<arg name="sim_enabled" value="$(arg sim)"/>
</include>

<include file="$(find cob_bringup)/drivers/tray_sensors.launch" >
<arg name="robot" value="$(arg robot)" />
<arg name="sim" value="$(arg sim)"/>
</include>

<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/sound.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
</group>

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108 changes: 0 additions & 108 deletions cob_controller_configuration_gazebo/launch/robots/default_controllers_cob3-6.launch
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Expand Up @@ -3,125 +3,17 @@

<arg name="robot" default="cob3-6"/>

<!-- aggregated robot_state_publisher -->
<include file="$(find cob_bringup)/tools/robot_state_publisher.launch">
<arg name="robot" value="$(arg robot)" />
</include>

<!-- Base -->
<!-- simulated driver services -->
<node ns="base" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- base controllers -->
<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- scanner and scanner-filter -->
<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_front"/>
</include>
<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_rear"/>
</include>
<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="name" value="base_laser_top"/>
</include>
<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
<arg name="robot" value="$(arg robot)" />
</include>


<!-- Head -->
<!-- simulated driver services -->
<node ns="head" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="head"/>
</include>

<!-- Arm -->
<!-- simulated driver services -->
<node ns="arm" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm"/>
</include>
<!-- Cartesian controllers -->
<include file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm"/>
</include>

<!-- Gripper -->
<!-- simulated driver services -->
<node ns="gripper" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="gripper"/>
</include>

<!-- Torso -->
<!-- simulated driver services -->
<node ns="torso" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="torso"/>
</include>

<!-- Tray -->
<!-- simulated driver services -->
<node ns="tray" pkg="cob_controller_configuration_gazebo" type="gazebo_services.py" name="gazebo_services" cwd="node" respawn="false" output="screen" />
<!-- generic controllers -->
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="tray"/>
</include>

<!-- Tray sensors -->
<node ns="tray_sensors" pkg="cob_phidgets" type="simulated_range_sensors.py" name="tray_sensors" output="screen">
<rosparam command="load" file="$(find cob_hardware_config)/$(arg robot)/config/tray_sensors_sim.yaml"/>
</node>

<!-- start additional components -->
<include file="$(find cob_bringup)/drivers/sound.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/drivers/light.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="light"/>
<arg name="sim_enabled" value="true"/>
</include>
<include file="$(find cob_bringup)/tools/base_collision_observer.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/drivers/battery_voltage_filter.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>
<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>

<node name="cam3d_relay" pkg="topic_tools" type="relay" args="/cam3d/rgb/image_raw /cam3d/rgb/image_color" respawn="false" output="screen"/>
<node name="cam3d_relay_depth_image" pkg="topic_tools" type="relay" args="/cam3d/depth/image_raw /cam3d/depth/image" respawn="false" output="screen"/>
<node name="cam3d_relay_depth_points" pkg="topic_tools" type="relay" args="/cam3d/depth_registered/points /cam3d/depth/points" respawn="false" output="screen"/>
<node name="cam3d_relay_depth_camera_info" pkg="topic_tools" type="relay" args="/cam3d/depth_registered/camera_info /cam3d/depth/camera_info" respawn="false" output="screen"/>

<include file="$(find cob_cam3d_throttle)/launch/cam3d_throttle.launch" >
<arg name="namespace" value="/cam3d" />
<arg name="rate" value="1.0" />
<arg name="start_manager" value="true"/>
<arg name="nodelet_manager" value="cam3d_nodelet_manager"/>
</include>

<!-- fake components for simulation -->
<include file="$(find cob_bringup)/drivers/relayboard.launch">
<arg name="sim" value="true"/>
</include>

</launch>
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