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add apm

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HiepLM
2026-02-26 09:48:16 +07:00
parent e8d5980572
commit 148a5e2c60
158 changed files with 9014 additions and 1 deletions
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20
Controllers/Packages/cititruck_description/launch/cititruck_debug_urdf.launch Executable file
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<?xml version="1.0" ?>
<launch>
<arg name="robot_type" default="demo" doc="" />
<arg name="tf_prefix" default="" doc="tf_prefix to be used by gazebo plugins and in the robot's urdf etc." />
<arg name="gui" default="false" />
<!-- load cititruck URDF -->
<include file="$(find cititruck_description)/launch/upload_cititruck_urdf.launch">
<arg name="tf_prefix" value="$(arg tf_prefix)" />
<arg name="robot_type" value="$(arg robot_type)" />
</include>
<node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find cititruck_description)/rviz/cititruck_description.rviz" required="true" />
</launch>

5
Controllers/Packages/cititruck_description/launch/debug.launch Executable file
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<?xml version="1.0" ?>
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find cititruck_description)/rviz/cititruck_description.rviz" required="true" />
</launch>

7
Controllers/Packages/cititruck_description/launch/upload_cititruck_urdf.launch Executable file
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<?xml version="1.0" ?>
<launch>
<arg name="robot_type" default="demo" doc="" />
<arg name="tf_prefix" default="" doc="TF prefix to use for all of the cititruck's TF frames"/>
<param name="robot_description" command="$(find xacro)/xacro $(find cititruck_description)/urdf/cititruck.urdf.xacro robot_type:=$(arg robot_type) tf_prefix:=$(arg tf_prefix)" />
</launch>