talos_spawn_hs_ouster.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <arg name="robot"  default="full_v2"/>
  <arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
  <arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
  <arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
  <arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
  <arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
  <arg name="gzpose" default="-x -2.5 -y -1.5 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
  

  <!-- PAL Hardware gazebo config -->
  <include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
    <arg name="robot" value="$(arg robot)" />
    <arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
  </include>


  <!-- PID gains -->
  <rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>

  <!-- Spawn robot in Gazebo -->
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
    args="-urdf -param robot_description $(arg gzpose) -model talos" />

  <node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
  <node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
</launch>