velma_system.launch

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<?xml version="1.0"?>
<launch>
  <node name="termtitle_velma_system" pkg="rcprg_ros_utils" type="termtitle.py" output="screen"
    args="velma_system" />

  <arg name="use_kinect" default="true" />
  <arg name="use_stereo_pair" default="false" />
  <arg name="world_name" default="$(find rcprg_gazebo_utils)/data/gazebo/worlds/blank.world" />
  <arg name="GAZEBO_MODEL_PATH" default="" />
  <arg name="GAZEBO_RESOURCE_PATH" default="" />
  <arg name="profile" default="dart_2ms" />

  <arg name="state_snapshot" default="$(find velma_sim_gazebo)/config/initial_state.txt" />
  <arg name="spawn_velma" default="true"/>

  <arg name="ORO_LOGLEVEL" default="3"/>

  <arg name="mobile_base" default="false"/>
  <arg name="run_steps" default="-1"/>
  <arg name="gui" default="false"/>

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

  <arg name="collision_detector" default="dart"/>

  <!-- <param
    name="/robot_description"
    command="$(find xacro)/xacro
      '$(find velma_description)/robots/velma.urdf.xacro'
      subsystem_xml:=true
      xml_file_re_body:='$(find velma_sim_gazebo)/config/velma_core_re.xml'
      use_gazebo_kinect:=$(arg use_kinect)
      use_stereo_pair:=$(arg use_stereo_pair)"
  />
  <param
    name="/robot_description_semantic"
    command="$(find xacro)/xacro '$(find velma_description)/robots/velma.srdf'"
  /> -->

  <include file="$(find velma_sim_gazebo)/launch/velma_gazebo_re.launch">
    <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="world_name" value="$(arg world_name)" />
    <arg name="use_kinect" value="$(arg use_kinect)" />
    <arg name="use_stereo_pair" value="$(arg use_stereo_pair)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="debug" value="false" />
    <arg name="load_robot_description" value="true" />
    <arg name="GAZEBO_MODEL_PATH" value="$(arg GAZEBO_MODEL_PATH):$(find rcprg_gazebo_utils)/data/gazebo/models" />
    <arg name="GAZEBO_RESOURCE_PATH" value="$(arg GAZEBO_RESOURCE_PATH):$(find rcprg_gazebo_utils)/data/gazebo" />
    <arg name="profile" value="$(arg profile)" />
    <arg name="state_snapshot" value="$(arg state_snapshot)" />
    <arg name="spawn_velma" value="$(arg spawn_velma)" />
    <arg name="ORO_LOGLEVEL" value="$(arg ORO_LOGLEVEL)" />
    <arg name="mobile_base" value="$(arg mobile_base)" />
    <arg name="run_steps" value="$(arg run_steps)" />
    <arg name="use_gpu_ray" value="$(arg use_gpu_ray)" />
    <arg name="collision_detector" value="$(arg collision_detector)" />
  </include>

  <include file="$(find velma_core_ve_body)/launch/velma_core_ve_body.launch" >
    <arg name="ORO_LOGLEVEL" value="$(arg ORO_LOGLEVEL)" />
  </include>
  <include file="$(find velma_core_cs)/launch/velma_core_cs.launch" >
    <arg name="ORO_LOGLEVEL" value="$(arg ORO_LOGLEVEL)" />
  </include>
  <include file="$(find velma_task_cs_ros_interface)/launch/velma_task_cs_ros_interface.launch" >
    <arg name="ORO_LOGLEVEL" value="$(arg ORO_LOGLEVEL)" />
  </include>

  <group if="$(arg mobile_base)">
    <node
      name="odom_localization"
      pkg="velma_common" type="odom_localization.py" output="screen" >
    </node>
  </group>

</launch>