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Set up new virtual surface package

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This commit is contained in:
Nicolas Hiillos
2023-03-23 10:28:39 +02:00
parent 53c46c11c0
commit 954020bb36
4 changed files with 351 additions and 4 deletions
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6
src/lite6_controller/launch/lite6_gazebo.launch.py
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@@ -94,8 +94,8 @@ def launch_setup(context, *args, **kwargs):
# xarm_gazebo/launch/_robot_beside_table_gazebo.launch.py
robot_gazebo_launch = IncludeLaunchDescription(
#PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'launch', '_robot_beside_table_gazebo.launch.py'])),
#PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_gazebo'), 'launch', '_robot_beside_table_gazebo.launch.py'])),
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', 'lite6_table.launch.py'])),
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_gazebo'), 'launch', 'lite6_virtual_surface.launch.py'])),
#PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('draw_svg'), 'launch', 'robots', 'lite6_table.launch.py'])),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
@@ -229,7 +229,7 @@ def launch_setup(context, *args, **kwargs):
],
),
Node(
package="draw_svg",
package="virtual_drawing_surface",
executable="drawing_surface.py",
output="log",
arguments=["--ros-args", "--log-level", log_level],