45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
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import xacro
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch_ros.actions import Node
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def generate_launch_description():
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joint_state_publisher = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster",
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"--controller-manager", "/controller_manager"]
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)
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imu_sensor_broadcaster = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["imu_sensor_broadcaster",
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"--controller-manager", "/controller_manager"]
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)
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leg_pd_controller = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["leg_pd_controller",
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"--controller-manager", "/controller_manager"]
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)
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ocs2_controller = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
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)
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return LaunchDescription([
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leg_pd_controller,
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RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=leg_pd_controller,
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on_exit=[imu_sensor_broadcaster, joint_state_publisher, ocs2_controller],
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)
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),
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])
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