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action_servers_MPC_BC_operational_AD_pick.launch
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<?xml version="1.0"?>
<launch>
<!-- set global arguments -->
<arg name="robot_name" default="chonk"/>
<!-- Launch a mux to send commands to the robot only from one source/controller -->
<node
name="mux_joint_position"
pkg="topic_tools"
type="mux"
ns="/$(arg robot_name)"
args="streaming_controller/command
DefaultPositionController/command
ActionCmdPosePositionController/command
ActionCmdConfigPositionController/command
ActionTeleop2DPositionController/command
mux:=mux_joint_position"
/>
<!-- Action Service Node for commanding end-effector poses -->
<node
name="action_server_cmd_config"
pkg="chonk_pushing"
ns="/$(arg robot_name)"
type="action_server_cmd_config.py"
output="screen"
>
<param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionCmdConfigPositionController/command"/>
<remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
<remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
</node>
<!-- Action Service Node for planning joint positions and build MPC to track the planning results -->
<node
name="action_server_cmd_pose_MPC_BC_operational_AD"
pkg="chonk_pushing"
ns="/$(arg robot_name)"
type="action_server_cmd_pose_MPC_BC_operational_AD_pick.py"
output="screen"
>
<param name="link_donkey" type="string" value="link_donkey"/>
<!-- <param name="link_ee_right" type="string" value="RARM_END_EFFECTOR_finger"/>
<param name="link_ee_left" type="string" value="LARM_END_EFFECTOR_finger"/>-->
<param name="link_ee_right" type="string" value="RARM_END_EFFECTOR_grasp"/>
<param name="link_ee_left" type="string" value="LARM_END_EFFECTOR_grasp"/>
<!-- <param name="link_sensor_right" type="string" value="RARM_changer_link_base"/>
<param name="link_sensor_left" type="string" value="LARM_changer_link_base"/>-->
<param name="link_head" type="string" value="CAMERA_HEAD_HEADING_Link"/>
<param name="link_gaze" type="string" value="gaze_ref"/>
<param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionCmdPosePositionController/command"/>
<remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
<remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
</node>
<!-- Action Service Node for teleoperating robot in 2D -->
<node
name="action_server_teleop_2d"
pkg="chonk_pushing"
ns="/$(arg robot_name)"
type="action_server_teleop_2d.py"
output="screen"
>
<param name="link_ee_right" type="string" value="RARM_END_EFFECTOR_finger"/>
<param name="link_ee_left" type="string" value="LARM_END_EFFECTOR_finger"/>
<param name="link_head" type="string" value="CAMERA_HEAD_HEADING_Link"/>
<param name="link_ref" type="string" value="teleop_ref"/>
<param name="link_gaze" type="string" value="gaze_ref"/>
<param name="cmd_topic_name" type="string" value="/$(arg robot_name)/ActionTeleop2DPositionController/command"/>
<param name="x_min" type="double" value="0.2"/>
<param name="x_max" type="double" value="0.8"/>
<param name="y_min" type="double" value="-0.5"/>
<param name="y_max" type="double" value="0.5"/>
<!-- <param name="roll_min" type="double" value="-25"/>
<param name="roll_max" type="double" value="25"/>
<param name="pitch_min" type="double" value="-20"/>
<param name="pitch_max" type="double" value="70"/> -->
<param name="roll_min" type="double" value="0"/>
<param name="roll_max" type="double" value="0"/>
<param name="pitch_min" type="double" value="0"/>
<param name="pitch_max" type="double" value="0"/>
<param name="yaw_min" type="double" value="-120"/>
<param name="yaw_max" type="double" value="120"/>
<remap from="/joint_states" to="/$(arg robot_name)/joint_states"/>
<remap from="/mux_selected" to="/$(arg robot_name)/mux_joint_position/selected"/>
</node>
</launch>