File size: 608 Bytes
2d6bfa0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
<?xml version="1.0"?>
<launch>

  <arg name="use_arm_traj_ctrl" default="true"/>

  <!-- launch arm and gripper controller -->
  <group if="$(arg use_arm_traj_ctrl)">
    <include file="$(find youbot_gazebo_control)/launch/arm_controller.launch" />
  </group>
  <group unless="$(arg use_arm_traj_ctrl)">
    <include file="$(find youbot_gazebo_control)/launch/vel_arm_controller.launch" />
  </group>

  <include file="$(find youbot_gazebo_control)/launch/gripper_controller.launch" />
  <!-- <include file="$(find mir_arm_cartesian_control)/ros/launch/arm_cartesian_control_youbot.launch" /> -->

</launch>