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added second rviz window

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HRS_D
2019-01-24 14:51:17 +01:00
parent 141eedc37d
commit 96f2beb1c7
4 changed files with 461 additions and 18 deletions
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24
launch/teleoperation.launch
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@@ -1,32 +1,30 @@
<?xml version="1.0"?>
<!--
Launch file for Teleoperating NAO project
-->
<!--Launch file for Teleoperating NAO project-->
<launch>
<!-- roscore is automatically started if none exists-->
<!-- condition for rviz to be started at launch-->
<?ignore?>
<?ignore
<arg name="gui" default="false" />
<param name="use_gui" value="$(arg gui)"/>
?>
<!-- aruco detector node-->
<node pkg="teleoperation" type="aruco_detector" name="aruco_detector_node"/>
<node name="aruco_detector" pkg="teleoperation" type="aruco_detector"/>
<!-- aruco effector node, currently commented out-->
<?ignore
<node pkg="teleoperation" type="aruco_effector" name="aruco_detector_node"/>
<node name="aruco_effector" pkg="teleoperation" type="aruco_effector"/>
?>
<!-- speech recognition and response node-->
<node pkg="teleoperation" type="speech" name="speech_node"/>
<node name="speech" pkg="teleoperation" type="speech"/>
<node name="rviz" pkg="rviz" type="rviz" args = " -d $(find teleoperation)/launch/rviz_config/nao.rviz" required = "true"/>
<!-- open rviz window showing nao -->
<node name="rviz_back" pkg="rviz" type="rviz" args = " -d $(find teleoperation)/launch/rviz_config/nao.rviz"/>
<!-- open rviz window showing nao from its right side -->
<node name="rviz_right" pkg="rviz" type="rviz" args = " -d $(find teleoperation)/launch/rviz_config/nao_right.rviz"/>
</launch>