Merge pull request start-jsk#69 from garaemon/add-hrp2007-auditor

Add launch file for hrp2007 auditor
itohdak · Mar 16, 2015 · f060380 · f060380
2 parents e6acedf + b266f27
commit f060380
Showing 1 changed file with 26 additions and 0 deletions.
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2007_auditor.launch b/jsk_hrp2_ros_bridge/launch/hrp2007_auditor.launch
@@ -0,0 +1,26 @@
+<launch>
+  <remap from="/multisense/joint_states" to="/joint_states" />
+  <include file="$(find jsk_footstep_controller)/launch/hrp2jsknt_real.launch" if="false"/>
+  <include file="$(find jsk_hrp2_ros_bridge)/torque_talker/hrp-talk-torque.launch"/>
+  <include file="$(find jsk_tilt_laser)/launch/multisense.launch" >
+    <arg name="ip_address" value="192.168.96.229"/>
+    <arg name="mtu" value="1500" />
+    <arg name="use_robot_description" value="false"/>
+    <arg name="not_use_sensor_tf_prefix" value="true"/>
+    <arg name="not_use_robot_state_publisher" value="true" />
+  </include>
+
+  <!-- setup default settings -->
+  <node pkg="dynamic_reconfigure" type="dynparam" name="set_multisense_resolution"
+        args="set multisense resolution 1024x544x256" />
+  <node pkg="dynamic_reconfigure" type="dynparam" name="set_multisense_auto_exposure"
+        args="set multisense auto_exposure false" />
+  <node pkg="dynamic_reconfigure" type="dynparam" name="set_multisense_exposure_time"
+        args="set multisense exposure_time 0.1" />
+  <node pkg="dynamic_reconfigure" type="dynparam" name="set_multisense_lighting"
+        args="set multisense lighting true" />
+  <node pkg="dynamic_reconfigure" type="dynparam" name="set_multisense_led_duty"
+        args="set multisense led_duty_cycle 0.15" />
+
+  <node pkg="sound_play" type="soundplay_node.py" name="robotsound" />
+</launch>