trivial

shadow-robot · Apr 10, 2015 · 8c009a9 · 8c009a9
1 parent a576531
commit 8c009a9
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/sr_robot_launch/launch/gazebo/sr_ur_and_hand.launch b/sr_robot_launch/launch/gazebo/sr_ur_and_hand.launch
@@ -1,6 +1,8 @@
 <launch>
   <arg name="paused" default="false"/>
   <arg name="debug" default="false"/>
+    <!--Left or right hand/arm  -->
+  <arg name="left_right" value="r"/>
 
   <arg name="world_name" default="$(find sr_description)/other/worlds/shadowhand.world"/>
 
@@ -15,10 +17,9 @@
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
-<!--  <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_multi_description)/urdf/ur_and_hand.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_multi_description)/urdf/srhand_ur10arm.urdf.xacro' prefix:=$(arg left_right)"/>
 
-  <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model ur -z 0.05 -J ra_elbow_joint 0.0 -J ra_shoulder_lift_joint 0.0 -J ra_shoulder_pan_joint 0.0 -J ra_wrist_1_joint 0.0 -J ra_wrist_2_joint 0.0 -J ra_wrist_3_joint 0.0" respawn="false" output="screen" />
--->
+  <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model ur10srh -z 0.05 -J ra_elbow_joint 0.0 -J ra_shoulder_lift_joint 0.0 -J ra_shoulder_pan_joint 0.0 -J ra_wrist_1_joint 0.0 -J ra_wrist_2_joint 0.0 -J ra_wrist_3_joint 0.0" respawn="false" output="screen" />
 
   <include file="$(find sr_robot_launch)/launch/gazebo/controllers.launch">
       <arg name="arms" value="$(arg arm_controllers)" />

diff --git a/sr_robot_launch/launch/right_srhand_ur10arm.launch b/sr_robot_launch/launch/right_srhand_ur10arm.launch
@@ -14,7 +14,7 @@
   <!-- Set to true to spawn the position controllers for both hands-->
   <arg name="hand_ctrl" value="false"/>
 
-  <!--&lt;!&ndash; launch for right hand &ndash;&gt;-->
+  <!-- launch for right hand -->
   <!--<include file="$(find sr_edc_launch)/sr_edc.launch" >-->
     <!--<arg name="rh_serial" value="1050" />-->
     <!--<arg name="eth_port" value="eth2_eth3" />-->
@@ -66,4 +66,4 @@
       args="--wait-for=/calibrated --shutdown-timeout=1.0 sh_rh_ffj0_position_controller sh_rh_ffj3_position_controller sh_rh_ffj4_position_controller sh_rh_mfj0_position_controller sh_rh_mfj3_position_controller sh_rh_mfj4_position_controller sh_rh_rfj0_position_controller sh_rh_rfj3_position_controller sh_rh_rfj4_position_controller sh_rh_lfj0_position_controller sh_rh_lfj3_position_controller sh_rh_lfj4_position_controller sh_rh_lfj5_position_controller sh_rh_thj1_position_controller sh_rh_thj2_position_controller sh_rh_thj3_position_controller sh_rh_thj4_position_controller sh_rh_thj5_position_controller sh_rh_wrj1_position_controller sh_rh_wrj2_position_controller" />
   </group>
 
-</launch>
+</launch>