demo.launch

<?xml version="1.0"?>
<launch>
  <arg name="script_file"
       doc="Full path to the script which initialize the supervisor"
       default="$(find agimus_demos)/franka/manipulation/supervisor.py" />
  <!-- whether the demonstration is run in simulation or on the real robot -->
  <arg name="simulation" default="false"/>
  <arg name="calibration" default="false"/>
  <include file="$(find sot_universal_robot)/launch/controller.launch">
    <arg name="simulation" value="$(arg simulation)"/>
    <arg name="robot" value="franka"/>
    <arg name="arm_id" value="panda2"/>
  </include>

  <!--This starts the HPP interface in namespace agimus/hpp-->
  <group ns="agimus/hpp">
    <node name="hpp_node" pkg="agimus-hpp" type="hpp_node.py"
      args="hpp-manipulation-server" respawn="true"
      output="screen" />
  </group>

  <!--This starts sot supervisor in namespace agimus/sot-->
  <include file="$(find agimus-sot)/launch/supervisor.launch" >
    <arg name="script_file" value="$(arg script_file)"/>
    <arg name="robot_prefix" value="panda/"/>
    <arg name="simulate_torque_feedback" value="false"/>
    <arg name="required" value="false"/>
  </include>
  <node pkg="agimus_demos" type="franka_manipulation_gripper_control.py"
        name="gripper_control"/>
  <rosparam command="load"
	    file="$(find agimus_demos)/franka/manipulation/demo-calibration.yaml"
            if="$(arg calibration)"/>
  <rosparam command="load"
	    file="$(find agimus_demos)/franka/manipulation/demo.yaml"
            unless="$(arg calibration)"/>
  <include file="$(find agimus)/launch/path_execution.launch">
    <arg name="gui" value="false"/>
  </include>

</launch>