single_joint_example.launch

<launch>

    <!-- these are the arguments you can pass this launch file, for example paused:=true -->
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>

    <!-- ================= -->
    <!-- Robot description -->

    <!-- Load the URDF into the ROS Parameter Server -->
    <param name="robot_description" textfile="$(find layered_hardware_gazebo)/urdf/single_joint_example.urdf" />

    <!-- ========================================= -->
    <!-- Virtual robot & world in Gazebo simulator -->

    <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find layered_hardware_gazebo)/world/single_joint_example.world"/>
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model single_joint_example -param robot_description -z 1"/>

    <!-- ========================================= -->
    <!-- Embedded controllers on the virtual robot -->

    <rosparam>
        single_joint_example:
            layered_hardware_gazebo:
                control_frequency: 10.
                # upper (controller-side) to bottom (hardware-side)
                layers: [ joint_limits_layer, gazebo_joint_layer ]
                joint_limits_layer:
                    type: layered_hardware_extensions/ExtendedJointLimitsLayer
                gazebo_joint_layer:
                    type: layered_hardware_gazebo/GazeboJointLayer
                    joints:
                        axis:
                            operation_mode_map:
                                posvel_controller: posvel
                                position_controller: position_pid
                                velocity_controller: velocity
                                effort_controller: effort
                            position_pid:
                                p: 10.
                                i: 0.
                                d: 2.
                                publish_state: false
                            initial_position: 0.785
    </rosparam>

    <!-- ==================== -->
    <!-- ROS-side controllers -->

    <group ns="single_joint_example">

        <!-- Controller params -->
        <rosparam>
            joint_state_controller:
                type: joint_state_controller/JointStateController
                publish_rate: 20
            posvel_controller:
                type: posvel_controllers/JointPosVelController
                joint: axis
            position_controller:
                type: position_controllers/JointPositionController
                joint: axis
            velocity_controller:
                type: velocity_controllers/JointVelocityController
                joint: axis
            effort_controller:
                type: effort_controllers/JointEffortController
                joint: axis
        </rosparam>

        <!-- Controller starter -->
        <node name="controller_starter" pkg="controller_manager" type="controller_manager" output="screen"
            args="spawn joint_state_controller position_controller" />

        <node name="controller_loader" pkg="controller_manager" type="controller_manager" output="screen"
            args="load posvel_controller velocity_controller effort_controller" />
    </group>

</launch>