46 lines
1.9 KiB
Python
46 lines
1.9 KiB
Python
from launch import LaunchDescription
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from launch_ros.actions import Node
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import os
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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='sas_robot_driver_franka',
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executable='sas_robot_driver_franka_node',
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name='arm3',
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parameters=[{
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"robot_ip_address": "172.16.0.4",
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"thread_sampling_time_sec": 0.004,
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# "thread_sampling_time_nsec": 4000000,
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"q_min": [-2.3093, -1.5133, -2.4937, -2.7478, -2.4800, 0.8521, -2.6895],
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"q_max": [2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895],
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"force_upper_limits_scaling_factor": 4.0,
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"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0],
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"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0],
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"robot_mode": "VelocityControl",
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"robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
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}],
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output="screen"
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),
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Node(
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package='sas_robot_driver_franka',
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executable='sas_robot_driver_franka_coppelia_node',
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name='arm3_coppelia',
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parameters=[{
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"thread_sampling_time_sec": 0.008,
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"vrep_ip": os.environ["VREP_IP"],
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"vrep_port": 20012,
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"vrep_dynamically_enabled": True,
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"using_real_robot": True,
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"vrep_joint_names": ["Franka_joint1#1", "Franka_joint2#1", "Franka_joint3#1", "Franka_joint4#1",
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"Franka_joint5#1", "Franka_joint6#1", "Franka_joint7#1"],
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"robot_topic_prefix": "/arm3",
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"robot_mode": "VelocityControl",
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"robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
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}],
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output="screen"
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),
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])
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