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4b16153 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | <?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="arm"/>
<arg name="generation"/>
<arg name="simulated"
default="True"/>
<!-- dVRK system -->
<node name="dvrk_$(arg arm)_node"
if="$(arg simulated)"
pkg="dvrk_robot"
type="dvrk_system"
args="-j $(find dvrk_config)/system/system-$(arg arm)_$(arg generation)_KIN_SIMULATED.json"
output="screen"/>
<!-- state publishers -->
<include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
<arg name="arm"
value="$(arg arm)"/>
<arg name="generation"
value="$(arg generation)"/>
</include>
<!-- rviz -->
<node name="rviz_$(arg arm)"
pkg="rviz"
type="rviz"
args="-d $(find dvrk_model)/rviz/$(arg generation)/$(arg arm).rviz"/>
</launch>
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