demo.launch

<launch>
  <arg name="script_file"
       doc="Full path to the script which initialize the supervisor"
       default="$(find agimus_demos)/ur10/pointing/supervisor.py" />
  <!-- whether to launch estimation.launch -->
  <arg name="estimation" default="false"/>
  <!-- whether the demonstration is run in simulation or on the real robot -->
  <arg name="simulation" default="false"/>
  <!-- YAML file that describes the demonstration: robots, objects-->
  <arg name="part" default="plaque-tubes-with-table"/>

  <include file="$(find agimus_demos)/launch/ur10_pointing_world_setup.launch">
    <arg name="part" value="$(arg part)"/>
  </include>
  <!-- start ros controller running the SoT -->
  <include file="$(find sot_universal_robot)/launch/controller.launch">
    <arg name="simulation" value="$(arg simulation)"/>
    <arg name="robot" value="ur"/>
  </include>

  <!--This starts the HPP interface in namespace agimus/hpp-->
  <group ns="agimus/hpp">
    <node name="hpp_node" pkg="agimus-hpp" type="hpp_node.py"
      args="hpp-manipulation-server" respawn="true"
      output="screen" />
  </group>

  <!--This starts sot supervisor in namespace agimus/sot-->
  <include file="$(find agimus-sot)/launch/supervisor.launch" >
    <arg name="script_file" value="$(arg script_file)"/>
    <arg name="robot_prefix" value="ur10/"/>
    <arg name="simulate_torque_feedback" value="false"/>
    <arg name="required" value="false"/>
  </include>

  <rosparam command="load"
	    file="$(find agimus_demos)/ur10/pointing/demo-$(arg part).yaml"/>
  <include file="$(find agimus)/launch/path_execution.launch">
    <arg name="gui" value="false"/>
  </include>

  <include if="$(arg estimation)" file="$(find agimus_demos)/launch/ur10_pointing_estimation.launch"/>
</launch>