Commit 6cc0c20e authored by jsimmering's avatar jsimmering
Browse files

modify tiago sim minimal hyperion config to use shunk grippper

parent 10119a7c
......@@ -3,7 +3,15 @@ name: tiago_bringup
cmd:
- start: |
source_ros
stdbuf -oL -eL roslaunch tobi_sim tiago_bringup.launch
if [[ -z "${end_effector}" ]]; then
stdbuf -oL -eL roslaunch tobi_sim tiago_bringup.launch
else
if [[ echo ${end_effector} | grep schunk ]]; then
eef=schunk-wsg;
else
eef=${end_effector}; fi
stdbuf -oL -eL roslaunch tobi_sim tiago_bringup.launch end_effector:=${eef}
fi
- check: |
ps -ax | grep -v grep |grep tiago_bringup.launch
......
......@@ -3,7 +3,12 @@ name: moveit
cmd:
- start: |
source_ros
stdbuf -oL -eL roslaunch tiago_moveit_config move_group.launch
if [[ -z "${end_effector}" ]]; then
stdbuf -oL -eL roslaunch tiago_moveit_config move_group.launch
else
echo "using end_effector:${end_effector}";
stdbuf -oL -eL roslaunch tiago_moveit_config move_group.launch end_effector:=${end_effector};
fi
- check: #TODO
tags:
......
......@@ -3,7 +3,15 @@ name: tiago_spawn
cmd:
- start: |
source_ros
stdbuf -oL -eL roslaunch tobi_sim tiago_spawn.launch x:=${SPAWN_POSE_X} y:=${SPAWN_POSE_Y} Y:=${SPAWN_POSE_ANGLE}
if [[ -z "${end_effector}" ]]; then
stdbuf -oL -eL roslaunch tobi_sim tiago_spawn.launch x:=${SPAWN_POSE_X} y:=${SPAWN_POSE_Y} Y:=${SPAWN_POSE_ANGLE}
else
if [[ echo ${end_effector} | grep schunk ]]; then
eef=schunk-wsg;
else
eef=${end_effector}; fi
stdbuf -oL -eL roslaunch tobi_sim tiago_spawn.launch x:=${SPAWN_POSE_X} y:=${SPAWN_POSE_Y} Y:=${SPAWN_POSE_ANGLE} end_effector:=${eef}
fi
- check: |
source ${prefix}/setup.bash
rostopic list | grep -e /sonar_base$
......
......@@ -14,6 +14,12 @@ export PATH="${prefix}/bin:$PATH"
@ENVFILE_default_paths@
# Setup Robot
if [[ -z "${EEF}" ]]; then
echo "NOT USING CUSTOM EEF"
else
export end_effector=${EEF}
echo "USING EEF ${EEF}"
fi
if [[ -z "${SIMMODE}" ]]; then
......
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