35 lines
1.1 KiB
XML
35 lines
1.1 KiB
XML
<?xml version="1.0"?>
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<!--Launch file for Teleoperating NAO project-->
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<launch>
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<!-- condition for rviz to be started at launch-->
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<?ignore
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<arg name="gui" default="false" />
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<param name="use_gui" value="$(arg gui)"/>
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<!-- aruco detector node-->
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<node name="aruco_detector" pkg="teleoperation" type="aruco_detector"/>
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<!-- aruco effector node, currently commented out-->
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<?ignore
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<node name="aruco_effector" pkg="teleoperation" type="aruco_effector"/>
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?>
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<!-- speech recognition and response node-->
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<node name="speech" pkg="teleoperation" type="speech"/>
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<!-- open rviz window showing nao -->
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<node name="rviz_back" pkg="rviz" type="rviz" args =
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" -d $(find teleoperation)/launch/rviz_config/nao.rviz"/>
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<!-- open rviz window showing nao from its right side -->
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<node name="rviz_right" pkg="rviz" type="rviz"
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args=" -d $(find teleoperation)/launch/rviz_config/nao_right.rviz"/>
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<!-- open rviz window showing human -->
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<node name="rviz_human" pkg="rviz" type="rviz"
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args=" -d $(find teleoperation)/launch/rviz_config/human.rviz"/>
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</launch>
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