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Expose ros2 params and load config yaml

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This commit is contained in:
Nicolas Hiillos
2023-04-11 11:31:38 +03:00
parent 925a9b42c7
commit 7f547c65f7
6 changed files with 47 additions and 7 deletions
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5
src/lite6_controller/launch/lite6_real_no_gui.launch.py
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@@ -15,6 +15,7 @@ from launch.events import Shutdown
def launch_setup(context, *args, **kwargs):
robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
report_type = LaunchConfiguration('report_type', default='normal')
prefix = LaunchConfiguration('prefix', default='')
@@ -155,6 +156,9 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml = robot_description_parameters['robot_description_kinematics']
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
#lite6_config = load_yaml('lite6_controller', 'config', 'config.yaml')
lite6_config = os.path.join('lite6_controller', 'config', 'config.yaml')
# FIX acceleration limits
#for i in range(1,7):
# joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
@@ -342,6 +346,7 @@ def launch_setup(context, *args, **kwargs):
#robot_description_parameters['robot_description_kinematics'],
robot_description_parameters,
{"use_sim_time": use_sim_time},
lite6_config,
],
),
]