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Commit 94e5d845 authored by Simon Wittl's avatar Simon Wittl
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echo update

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from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
def generate_launch_description():
return LaunchDescription([
DeclareLaunchArgument(
'frame',
default_value='object',
description='Name of the static frame'
),
DeclareLaunchArgument(
'position',
default_value="0. 0. 1.",
description='Position as x y z'
),
DeclareLaunchArgument(
'quaternion',
default_value='0. 0. 0. 1.',
description='Orientation as quaternion x y z w'),
Node(
package='rq_hardware',
namespace='rq',
executable='echo_service',
name='hardware_interface'
),
Node(
package='rq_trajectory',
namespace='rq',
executable='echo_interference_service',
name='trajectory'
),
Node(
package='rq_reconstruction',
namespace='rq',
executable='echo_service',
name='reconstruction'
),
Node(
package='rq_ddetection',
namespace='rq',
executable='echo_service',
name='defect_detection'
),
Node(
package='rq_controller',
namespace='rq',
executable='tf_static_broadcaster',
name='object_broadcaster',
parameters=[
{'frame': LaunchConfiguration('frame')},
{'position': LaunchConfiguration('position')},
{'quaternion': LaunchConfiguration('quaternion')},
]
),
]
)
\ No newline at end of file
Subproject commit 2d92247fd6cccd2fd450be5996be478b760b969e
Subproject commit 40a93a9d91b06edcec853ca674c83919649fc63c
Subproject commit 1bd4aed8711671fda9fbdc384bfb2f7f3f4480c3
Subproject commit 9e1a95b55ff2898410e3c39a844590041640b01a
Subproject commit a356ccbc205b69af3ef268e2a382bc81d065ce86
Subproject commit 03045d66fa05a485bc22f31825d2b05f6de6f399
Subproject commit 58b224a7530c5c3bdea1ebffad29e30be59cee5f
Subproject commit 66bfea99c553f6e945d5eac4bb76fe0222bc23b4
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