demo.launch

<launch>
  <arg name="simulation" default="false"
       doc="whether the demo is run in Gazebo"/>

  <param name="robot_initial_pose"
         value="0. 0. 1.0192720229567027 0 0 0 1"/>
  <!-- Start the Stack of Tasks -->
  <include file="$(find roscontrol_sot_talos)/launch/sot_talos_controller_gazebo.launch" if="$(arg simulation)">
  </include>
  <include file="$(find roscontrol_sot_talos)/launch/sot_talos_controller.launch" unless="$(arg simulation)">
  </include>
  <include file="$(find agimus_demos)/launch/talos_calibration_contact_world_setup.launch">
    <arg name="simulation" value="$(arg simulation)" />
  </include>

  <arg name="script_file" doc="Full path to the script which initialize the supervisor"
    default="$(find agimus_demos)/talos/calibration/contact/supervisor.py" />

  <!--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="talos/"/>
    <arg name="simulate_torque_feedback" value="true"/>
    <arg name="required" value="false"/>
  </include>

  <rosparam command="load"
	    file="$(find agimus_demos)/talos/calibration/contact/demo.yaml"/>
  <include file="$(find agimus)/launch/path_execution.launch">
    <arg name="gui" value="false"/>
  </include>
</launch>