fetch.launch

<launch>
  <!-- robot specific information on parameters https://github.com/ros-infrastructure/rep/pull/104 -->
  <param name="robot/type" value="fetch" />
  <param name="robot/name" textfile="/etc/hostname" />
  <arg name="launch_teleop" default="true" />

  <!-- GDB Debug Option -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix"
     value="gdb -x $(find fetch_bringup)/launch/gdb_settings.gdb --ex run --args" />

  <!-- Calibration -->
  <param name="calibration_date" value="uncalibrated" />
  <param name="base_controller/track_width" value="0.37476" />
  <param name="head_camera/driver/z_offset_mm" value="0.0" />
  <param name="head_camera/driver/z_scaling" value="1.0" />
  <arg name="rgb_camera_info_url" default="" />
  <arg name="depth_camera_info_url" default="" />

  <!-- Odometry -->
  <param name="base_controller/publish_tf" value="false" />
  <include file="$(find fetch_bringup)/launch/include/graft.launch.xml" />

  <!-- URDF -->
  <param name="robot_description" textfile="$(find fetch_description)/robots/fetch.urdf" />

  <!-- Drivers for Base -->
  <node name="robot_driver" launch-prefix="$(arg launch_prefix)" pkg="fetch_drivers" type="robot_driver" output="screen">
    <param name="firmware_tar_gz" value="$(find fetch_drivers)/firmware.tar.gz" />
    <param name="has_base" value="true" />
    <param name="has_torso" value="true" />
    <param name="has_head" value="true" />
    <param name="has_arm" value="true" />
  </node>

  <!-- Drivers for Gripper -->
  <node name="gripper_driver" pkg="fetch_drivers" type="gripper_driver" output="screen" >
    <param name="firmware_tar_gz" value="$(find fetch_drivers)/firmware.tar.gz" />
  </node>

  <!-- Controllers -->
  <rosparam file="$(find fetch_bringup)/config/default_controllers.yaml" command="load" />

  <!-- Joint State -> TF -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

  <!-- Head Camera -->
  <include file="$(find fetch_bringup)/launch/include/head_camera.launch.xml" >
    <arg name="rgb_camera_info_url" value="$(arg rgb_camera_info_url)" />
    <arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
  </include>

  <!-- Laser -->
  <include file="$(find fetch_bringup)/launch/include/laser.launch.xml" />

  <!-- Teleop -->
  <include if="$(arg launch_teleop)" file="$(find fetch_bringup)/launch/include/teleop.launch.xml">
    <arg name="ps4" value="true" />
  </include>
  <param name="joy/deadzone" value="0.05"/>

  <!-- Autodocking -->
  <include file="$(find fetch_open_auto_dock)/launch/auto_dock.launch" />

  <!-- Software Runstop -->
  <include file="$(find fetch_bringup)/launch/include/runstop.launch.xml">
    <arg name="flags" value="-a -b -g" />
  </include>

  <!-- Diagnostics Aggregator -->
  <include file="$(find fetch_bringup)/launch/include/aggregator.launch.xml" />

</launch>