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Add launchfile that executes everything together #18

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Add launchfile that executes everything together #18

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98bff58
Add launchfile that executes everything together
eborghi10 Feb 16, 2019
34c1ab8
Make Arduino port configurable
eborghi10 Feb 16, 2019
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13 changes: 13 additions & 0 deletions moveo_moveit/launch/moveo.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
<launch>
<arg name="port" default="/dev/ttyACM0"/>

<!-- RVIZ with Moveit plugin -->
<include file="$(find moveo_moveit_config)/launch/demo.launch"/>
<!-- rosserial node that communicates with Arduino -->
<node pkg="rosserial_python" type="serial_node.py" name="arduino_rosserial"
args="$(arg port)" output="screen" required="true"/>
<!-- converts simulation joint_state rotations to steps and publishes
on the /joint_steps topic -->
<node pkg="moveo_moveit" type="moveit_convert" name="moveit_convert"
output="screen" required="true"/>
</launch>