px100.launch

<launch>
    <!-- Args dynamixel -->
    <arg name="usb_port" default="/dev/ttyUSB1" />
    <arg name="dxl_baud_rate" default="1000000" />
    <arg name="namespace" default="dynamixel_workbench" />
    <arg name="run_dynamixel" default="false" />

    <!-- Args robot description -->
    <arg name="rvizconfig" default="$(find px100_description)/rviz/config.rviz" />
    <arg name="model" default="$(find px100_description)/urdf/robot.urdf" />

    <!-- Start robot model and robot state publisher nodes -->
    <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

    <!-- Start dynamixel package if run_dynamixel arg is true -->
    <param name="dynamixel_info" value="$(find px100_description)/config/motors.yaml" />
    <node if="$(arg run_dynamixel)" name="$(arg namespace)" pkg="dynamixel_workbench_controllers" type="dynamixel_workbench_controllers" required="true" output="screen" args="$(arg usb_port) $(arg dxl_baud_rate)">
        <rosparam command="load" file="$(find px100_description)/config/dynamixel.yaml" />
        <remap from="/dynamixel_workbench/joint_states" to="joint_states" />
    </node>

    <node name="key_teleop" pkg="px100_description" output="screen" type="key_control" args="$(arg run_dynamixel)" />

    <!-- Run RViz with config -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>