BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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merged with master

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added op3_bringup package
This commit is contained in:
Kayman
2018-04-16 17:47:15 +09:00
parent 2122f8c493
commit 66f3b91ce9
48 changed files with 1024 additions and 263 deletions
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15
op3_bringup/launch/op3_bringup.launch Normal file
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<?xml version="1.0" ?>
<launch>
<!-- OP3 Manager -->
<include file="$(find op3_manager)/launch/op3_manager.launch" />
<!-- UVC camera -->
<node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
<param name="video_device" type="string" value="/dev/video0" />
<param name="image_width" type="int" value="1280" />
<param name="image_height" type="int" value="720" />
<param name="framerate " type="int" value="30" />
<param name="camera_frame_id" type="string" value="cam_link" />
<param name="camera_name" type="string" value="camera" />
</node>
</launch>

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op3_bringup/launch/op3_bringup_visualization.launch Normal file
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<?xml version="1.0" ?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.urdf.xacro'"/>
<!-- Send fake joint values and monitoring present joint angle -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
<rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
</node>
<!-- Combine joint values -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
<remap from="/joint_states" to="/robotis/present_joint_states" />
</node>
<!-- Show in Rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz"/>
</launch>