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unitree_ros
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add HitbotGripper in launch

This commit is contained in:
ZFEI 2024-07-24 18:54:22 +08:00
parent f491a1b3ec
commit a543dde82f
1 changed files with 2 additions and 1 deletions
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3
unitree_gazebo/launch/z1.launch
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@ -13,6 +13,7 @@
<arg name="user_debug" default="false"/>
<arg name="UnitreeGripperYN" default="true"/>
<arg name="RealSense" default="true"/>
<arg name="HitbotGripper" default="true"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
@ -26,7 +27,7 @@
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
UnitreeGripper:=$(arg UnitreeGripperYN) RealSense:=$(arg RealSense)"/>
UnitreeGripper:=$(arg UnitreeGripperYN) RealSense:=$(arg RealSense) HitbotGripper:=$(arg HitbotGripper)"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->