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[actions] Use launch file args in the action client launchers
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Related to #241
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@alex-mitrevski
alex-mitrevski committed Oct 25, 2020
1 parent dd58405 commit 75cb803
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Showing 7 changed files with 50 additions and 27 deletions.
12 changes: 8 additions & 4 deletions ...ng/mdr_actions/mdr_manipulation_actions/mdr_pickup_action/ros/launch/pickup_client.launch
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<?xml version="1.0"?>
<launch>
<arg name="action_name" default="pickup" />
<arg name="server_name" default="/pickup_server" />
<arg name="action_timeout" default="120" />
<arg name="grasping_pose_frame" default="base_link" />
<arg name="action_dispatch_topic" default="/kcl_rosplan/action_dispatch"/>
<arg name="action_feedback_topic" default="/kcl_rosplan/action_feedback"/>

<node pkg="mdr_pickup_action" type="pickup_client" name="pickup_client" output="screen">
<param name="action_name" type="str" value="pickup" />
<param name="server_name" type="str" value="/pickup_server" />
<param name="action_timeout" type="double" value="120" />
<param name="action_name" type="str" value="$(arg action_name)" />
<param name="server_name" type="str" value="$(arg server_name)" />
<param name="action_timeout" type="double" value="$(arg action_timeout)" />
<param name="grasping_pose_frame" type="str" value="$(arg grasping_pose_frame)" />
<remap from="action_dispatch_topic" to="$(arg action_dispatch_topic)" />
<remap from="action_feedback_topic" to="$(arg action_feedback_topic)" />
<param name="grasping_pose_frame" type="str" value="base_link" />
</node>
</launch>
12 changes: 8 additions & 4 deletions ...ning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/launch/place_client.launch
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<?xml version="1.0"?>
<launch>
<arg name="action_name" default="place" />
<arg name="server_name" default="/place_server" />
<arg name="action_timeout" default="120" />
<arg name="placing_pose_frame" default="base_link" />
<arg name="action_dispatch_topic" default="/kcl_rosplan/action_dispatch"/>
<arg name="action_feedback_topic" default="/kcl_rosplan/action_feedback"/>

<node pkg="mdr_place_action" type="place_client" name="place_client" output="screen">
<param name="action_name" type="str" value="place" />
<param name="server_name" type="str" value="/place_server" />
<param name="action_timeout" type="double" value="120" />
<param name="action_name" type="str" value="$(arg action_name)" />
<param name="server_name" type="str" value="$(arg server_name)" />
<param name="action_timeout" type="double" value="$(arg action_timeout)" />
<param name="placing_pose_frame" type="str" value="$(arg placing_pose_frame)" />
<remap from="action_dispatch_topic" to="$(arg action_dispatch_topic)" />
<remap from="action_feedback_topic" to="$(arg action_feedback_topic)" />
<param name="placing_pose_frame" type="str" value="base_link" />
</node>
</launch>
12 changes: 8 additions & 4 deletions ...ning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/launch/throw_client.launch
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<arg name="action_feedback_topic" default="/kcl_rosplan/action_feedback"/>
<arg name="knowledge_update_service" default="/rosplan_knowledge_base/update"/>
<arg name="attribute_fetching_service" default="/rosplan_knowledge_base/state/propositions"/>
<arg name="action_name" default="throw" />
<arg name="server_name" default="/place_server" />
<arg name="action_timeout" default="120" />
<arg name="placing_pose_frame" default="base_link" />

<node pkg="mdr_place_action" type="throw_client" name="throw_client" output="screen">
<param name="action_name" type="str" value="throw" />
<param name="server_name" type="str" value="/place_server" />
<param name="action_timeout" type="double" value="120" />
<param name="action_name" type="str" value="$(arg action_name)" />
<param name="server_name" type="str" value="$(arg server_name)" />
<param name="action_timeout" type="double" value="$(arg action_timeout)" />
<param name="placing_pose_frame" type="str" value="$(arg placing_pose_frame)" />
<remap from="action_dispatch_topic" to="$(arg action_dispatch_topic)" />
<remap from="action_feedback_topic" to="$(arg action_feedback_topic)" />
<remap from="knowledge_update_service" to="$(arg knowledge_update_service)" />
<remap from="attribute_fetching_service" to="$(arg attribute_fetching_service)" />
<param name="placing_pose_frame" type="str" value="base_link" />
</node>
</launch>
9 changes: 6 additions & 3 deletions ...dr_actions/mdr_navigation_actions/mdr_move_base_action/ros/launch/move_base_client.launch
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<?xml version="1.0"?>
<launch>
<arg name="action_name" default="move_base" />
<arg name="server_name" default="move_base_server" />
<arg name="action_timeout" default="120" />
<arg name="action_dispatch_topic" default="/kcl_rosplan/action_dispatch"/>
<arg name="action_feedback_topic" default="/kcl_rosplan/action_feedback"/>

<node pkg="mdr_move_base_action" type="move_base_client" name="mdr_move_base_client" output="screen">
<param name="action_name" type="str" value="move_base" />
<param name="server_name" type="str" value="move_base_server" />
<param name="action_timeout" type="double" value="120" />
<param name="action_name" type="str" value="$(arg action_name)" />
<param name="server_name" type="str" value="$(arg server_name)" />
<param name="action_timeout" type="double" value="$(arg action_timeout)" />
<remap from="action_dispatch_topic" to="$(arg action_dispatch_topic)" />
<remap from="action_feedback_topic" to="$(arg action_feedback_topic)" />
</node>
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9 changes: 6 additions & 3 deletions ...ctions/mdr_perception_actions/mdr_find_object_action/ros/launch/find_object_client.launch
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<?xml version="1.0"?>
<launch>
<arg name="action_name" default="find_object" />
<arg name="server_name" default="find_object_server" />
<arg name="action_timeout" default="120" />
<arg name="action_dispatch_topic" default="/kcl_rosplan/action_dispatch"/>
<arg name="action_feedback_topic" default="/kcl_rosplan/action_feedback"/>

<node pkg="mdr_find_object_action" type="find_object_client" name="find_object_client" output="screen">
<param name="action_name" type="str" value="find_object" />
<param name="server_name" type="str" value="find_object_server" />
<param name="action_timeout" type="double" value="120" />
<param name="action_name" type="str" value="$(arg action_name)" />
<param name="server_name" type="str" value="$(arg server_name)" />
<param name="action_timeout" type="double" value="$(arg action_timeout)" />
<remap from="action_dispatch_topic" to="$(arg action_dispatch_topic)" />
<remap from="action_feedback_topic" to="$(arg action_feedback_topic)" />
</node>
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9 changes: 6 additions & 3 deletions ...g/mdr_actions/mdr_perception_actions/mdr_find_people/ros/launch/find_people_client.launch
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<?xml version="1.0"?>
<launch>
<arg name="action_name" default="find_people" />
<arg name="server_name" default="find_people_server" />
<arg name="action_timeout" default="120" />
<arg name="action_dispatch_topic" default="/kcl_rosplan/action_dispatch"/>
<arg name="action_feedback_topic" default="/kcl_rosplan/action_feedback"/>

<node pkg="mdr_find_people" type="find_people_client" name="find_people_client" output="screen">
<param name="action_name" type="str" value="find_people" />
<param name="server_name" type="str" value="find_people_server" />
<param name="action_timeout" type="double" value="120" />
<param name="action_name" type="str" value="$(arg action_name)" />
<param name="server_name" type="str" value="$(arg server_name)" />
<param name="action_timeout" type="double" value="$(arg action_timeout)" />
<remap from="action_dispatch_topic" to="$(arg action_dispatch_topic)" />
<remap from="action_feedback_topic" to="$(arg action_feedback_topic)" />
</node>
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14 changes: 8 additions & 6 deletions .../mdr_perception_actions/mdr_perceive_plane_action/ros/launch/perceive_plane_client.launch
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<?xml version="1.0"?>
<launch>
<arg name="action_name" default="perceive_plane" />
<arg name="server_name" default="/mdr_actions/perceive_plane_server" />
<arg name="action_timeout" default="120" />
<arg name="clear_plane_memory" default="true" />
<arg name="action_dispatch_topic" default="/kcl_rosplan/action_dispatch"/>
<arg name="action_feedback_topic" default="/kcl_rosplan/action_feedback"/>
<arg name="knowledge_update_service" default="/rosplan_knowledge_base/update"/>
<arg name="attribute_fetching_service" default="/rosplan_knowledge_base/state/propositions"/>

<node pkg="mdr_perceive_plane_action" type="perceive_plane_client" name="perceive_plane_client" output="screen" ns="mdr_actions">
<param name="action_name" type="str" value="perceive_plane" />
<param name="server_name" type="str" value="/mdr_actions/perceive_plane_server" />
<param name="action_timeout" type="double" value="120" />
<param name="clear_plane_memory" type="bool" value="true" />
<param name="action_name" type="str" value="$(arg action_name)" />
<param name="server_name" type="str" value="$(arg server_name)" />
<param name="action_timeout" type="double" value="$(arg action_timeout)" />
<param name="clear_plane_memory" type="bool" value="$(arg clear_plane_memory)" />
<remap from="action_dispatch_topic" to="$(arg action_dispatch_topic)" />
<remap from="action_feedback_topic" to="$(arg action_feedback_topic)" />
</node>
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