From de92f4653757daffe19a48ff0acf5a7d95a09c8b Mon Sep 17 00:00:00 2001 From: mhubii Date: Tue, 21 Nov 2023 10:19:09 +0000 Subject: [PATCH] added new broadcasters to launch --- lbr_bringup/launch/real.launch.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/lbr_bringup/launch/real.launch.py b/lbr_bringup/launch/real.launch.py index 35f3a3f2..f6b6b719 100644 --- a/lbr_bringup/launch/real.launch.py +++ b/lbr_bringup/launch/real.launch.py @@ -29,6 +29,12 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]: joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner( controller="joint_state_broadcaster" ) + lbr_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner( + controller="lbr_state_broadcaster" + ) + lbr_virtual_ft_broadcast = LBRROS2ControlMixin.node_controller_spawner( + controller="lbr_virtual_ft_broadcaster" + ) controller = LBRROS2ControlMixin.node_controller_spawner( controller=LaunchConfiguration("ctrl") ) @@ -36,7 +42,12 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]: controller_event_handler = RegisterEventHandler( OnProcessStart( target_action=ros2_control_node, - on_start=[joint_state_broadcaster, controller], + on_start=[ + joint_state_broadcaster, + lbr_state_broadcaster, + lbr_virtual_ft_broadcast, + controller, + ], ) ) ld.add_action(controller_event_handler)