velma_task_cs_ros_interface.launch

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<?xml version="1.0"?>
<launch>
  <arg name="ORO_LOGLEVEL" default="3"/>
  <arg name="debug" default="false"/>
  <arg name="cset" default="false"/>

  <arg unless="$(arg cset)"  name="CSET_LAUNCH_PREFIX" value=""/>
  <arg     if="$(arg cset)"  name="CSET_LAUNCH_PREFIX" value="cset proc -s user -e --"/>

  <arg unless="$(arg debug)" name="LAUNCH_PREFIX" value=""/>
  <arg     if="$(arg debug)" name="LAUNCH_PREFIX" value="gdb -ex run --args "/>

  <node
    launch-prefix="$(arg CSET_LAUNCH_PREFIX) $(arg LAUNCH_PREFIX)"
    name="velma_task_cs_ros_interface"
    pkg="subsystem_deployer" type="deployer"
    args="--DeployerName velma_task_cs_ros_interface -x $(find velma_task_cs_ros_interface)/config/velma_task_cs_ros_interface.xml -m velma_task_cs_ros_interface -c 0 --" output="screen">
<!--    <env name="OROCOS_TARGET" value="$(arg OROCOS_TARGET)"/>
    <env name="RTT_COMPONENT_PATH" value="$(arg RTT_COMPONENT_PATH)"/>-->
    <env name="ORO_LOGLEVEL" value="$(arg ORO_LOGLEVEL)"/>
<!--    <env name="LD_PRELOAD" value="libmalloc_hook.so" />-->
  </node>

  <group ns="velma_task_cs_ros_interface">
    <rosparam>
      JntImpAction:
        joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint]
      JntPub:
        joint_names: [torso_0_joint, right_arm_0_joint, right_arm_1_joint, right_arm_2_joint, right_arm_3_joint, right_arm_4_joint, right_arm_5_joint, right_arm_6_joint, left_arm_0_joint, left_arm_1_joint, left_arm_2_joint, left_arm_3_joint, left_arm_4_joint, left_arm_5_joint, left_arm_6_joint, head_pan_joint, head_tilt_joint, right_HandFingerOneKnuckleOneJoint, right_HandFingerOneKnuckleTwoJoint, right_HandFingerOneKnuckleThreeJoint, right_HandFingerTwoKnuckleOneJoint, right_HandFingerTwoKnuckleTwoJoint, right_HandFingerTwoKnuckleThreeJoint, right_HandFingerThreeKnuckleTwoJoint, right_HandFingerThreeKnuckleThreeJoint, left_HandFingerOneKnuckleOneJoint, left_HandFingerOneKnuckleTwoJoint, left_HandFingerOneKnuckleThreeJoint, left_HandFingerTwoKnuckleOneJoint, left_HandFingerTwoKnuckleTwoJoint, left_HandFingerTwoKnuckleThreeJoint, left_HandFingerThreeKnuckleTwoJoint, left_HandFingerThreeKnuckleThreeJoint ]
        constant_names: [leftFtSensorJoint, rightFtSensorJoint, left_HandFingerOneKnuckleThreeOptoforceJoint, left_HandFingerTwoKnuckleThreeOptoforceJoint, left_HandFingerThreeKnuckleThreeOptoforceJoint, rightKeepUprightJoint0, rightKeepUprightJoint1, leftKeepUprightJoint0, leftKeepUprightJoint1]
        constant_positions: [0, 0, 0, 0, 0, 0, 0, 0, 0]
      HeadAction:
        joint_names: [head_pan_joint, head_tilt_joint]
      LeftHandAction:
        prefix: "left"
      RightHandAction:
        prefix: "right"
      TfPub:
        frame_ids: [right_arm_7_link, left_arm_7_link]
        child_frame_ids: [right_arm_tool, left_arm_tool]
    </rosparam>
<!--
      TfPub:
        frame_ids: [right_arm_7_link, left_arm_7_link, torso_base, torso_base, torso_base, torso_base]
        child_frame_ids: [right_arm_tool, left_arm_tool, right_arm_cmd, left_arm_cmd, right_arm_tool_measured, left_arm_tool_measured]
-->
  </group>

</launch>