allegro_hand_joint_gui.launch

<launch>
	
	<arg name="CONTROLLER" default="pd"/>	
	<!-- Controllers include:
		   -grasp 
		   -pd *
		   -velSat
		 *The default controller is 'pd' which employs the included grasping library. -->
	
	<arg name="polling" default="true"/> <!-- true, false for polling the CAN communication -->
	
	<!-- The inclusion of which_hand in the zero.yaml file has been deprecated. 
		 Which hand (left/right) must now be specified as an argument when launching the Allegro Hand
		 as an input for both the robot_description and for the grasping library controllers. -->	
	
	<arg name="HAND"/> 					<!-- left, right -->
	<arg name="NUM" default='0'/>				<!-- 0, 1, 2, ...  -->	
	<arg name="CAN_CH" default="/dev/pcanusb0"/>		<!-- ls -l /dev/pcan*    to see your open CAN ports -->
	<arg name="ZEROS" default="parameters/zero.yaml"/>	<!-- yaml param files for your hand can be found in parameters/zero_files/ -->
	
	<param name="/robot_description" textfile="$(find allegro_hand_description)/allegro_hand_description_$(arg HAND).urdf"/>
	<param name="/allegroHand_$(arg NUM)/robot_description" textfile="$(find allegro_hand_description)/allegro_hand_description_$(arg HAND).urdf"/>
	
	<arg name="gui" default="True" />
	<param name="use_gui" value="$(arg gui)"/>
	
	<!-- This launch file is set up for ROS FUERTE by default. If you are using GROOVY, please change the param "GROOVY" below to 'true'
		 or use the arg GROOVY:=true argument when launching. -->
	<arg name="GROOVY" default="false"/>
    
    	<!-- Allegro Hand controller and communication node -->  
 
	<node name="allegroHand_$(arg HAND)_$(arg NUM)" pkg="allegro_hand_core_$(arg CONTROLLER)" type="allegro_hand_core_$(arg CONTROLLER)" output="screen" clear_params="true" args="$(arg polling)">    
		<!-- Remapping of topics into enumerated allegroHand_# namespace -->
        	<remap from="/allegroHand/joint_states" to="/allegroHand_$(arg NUM)/joint_states"/>    	
    		<remap from="/allegroHand/joint_cmd" to="/allegroHand_$(arg NUM)/joint_cmd"/>
        	<remap from="/allegroHand/lib_cmd" to="/allegroHand_$(arg NUM)/lib_cmd"/>          
    	
		<!--parameters are within the scope of the hand node so that multiple hands can be run at the same time -->
		<rosparam file="$(arg ZEROS)" command="load" />
		<rosparam file="parameters/gains_pd.yaml" command="load" />
		<rosparam file="parameters/gains_velSat.yaml" command="load" />
		<rosparam file="parameters/initial_position.yaml" command="load" />
		
		<param name="/comm/CAN_CH" value="$(arg CAN_CH)" />
	       	<param name="/hand_info/which_hand" value="$(arg HAND)" /> <!-- See HAND arg above -->
   	</node>

	<!-- Joint State (angle) Control GUI -->	
	<node name="joint_gui_$(arg NUM)" pkg="joint_state_publisher_experimental" type="joint_state_publisher" >
    	      <remap from="/joint_states" to="/allegroHand_$(arg NUM)/joint_cmd"/>			
	</node>

	<!-- Joint States (angles) to Joint Transforms -->
	<node name="jointState2tf_$(arg NUM)" pkg="robot_state_publisher" type="state_publisher">
		<remap from="/tf" to="/allegroHand_$(arg NUM)/tf"/>
    		<remap from="/joint_states" to="/allegroHand_$(arg NUM)/joint_states"/>		
    		</node>
    
	<!-- Rviz Robot model visualization -->
    	<!-- for Fuerte -->
    	<node name="rviz_$(arg NUM)" pkg="rviz" type="rviz" args="-d $(find allegro_hand_description)/allegro_hand_config.vcg" unless="$(arg GROOVY)">
		<remap from="/tf" to="/allegroHand_$(arg NUM)/tf"/>   			
	</node>	 

    	<!-- for Groovy -->  
    	<node name="rviz_$(arg NUM)" pkg="rviz" type="rviz" args="-d $(find allegro_hand_description)/allegro_hand_config.rviz" if="$(arg GROOVY)">
		<remap from="/tf" to="/allegroHand_$(arg NUM)/tf"/>   	 	
	</node>	

	<!-- Keyboard handler -->	
	<!-- <node name="keyboard_$(arg NUM)" pkg="allegro_hand_keyboard" type="allegro_hand_keyboard" output="screen">
             <remap from="/allegroHand/lib_cmd" to="/allegroHand_$(arg NUM)/lib_cmd"/>
	</node> -->
	
	<!-- Plotting of Joint positions, velocities, and commanded torques -->
	<!-- <node pkg="rxtools" type="rxplot" name="plot_speed_$(arg NUM)" 
	args="/allegroHand/joint_desired_states/position[9],/allegroHand/joint_current_states/position[9]
	/allegroHand/joint_desired_states/velocity[9],/allegroHand/joint_current_states/velocity[9]
	/allegroHand/joint_current_states/effort[9]" /> -->	
</launch>