Merge pull request start-jsk#455 from orikuma/launch-multisense-in-au…

…ditor-for-hrp2016 [jsk_hrp2_ros_bridge] launch multisense local out of hrp2016v
itohdak · Dec 29, 2016 · f39cdc9 · f39cdc9
2 parents 4229ce6 + 8fcd154
commit f39cdc9
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diff --git a/jsk_hrp2_ros_bridge/launch/hrp2016.launch b/jsk_hrp2_ros_bridge/launch/hrp2016.launch
@@ -29,12 +29,14 @@
         name="hrp3hand_empty_joint_publisher" />
   <node pkg="jsk_calibration" type="joint_states_appender.py" name="joint_states_appender" />
 
+  <!--
   <include file="$(find jsk_hrp2_ros_bridge)/launch/hrp2_multisense_local.launch">
     <arg name="ip_address" value="192.168.96.112" />
     <arg name="mtu" value="1500" />
     <arg name="SELF_FILTER_PARAM" default="$(find jsk_hrp2_ros_bridge)/config/HRP2JSKNT_self_filter.yaml" />
     <arg name="ODOMETRY_PARAM" default="$(find jsk_robot_startup)/config/HRP2JSKNT_odometry_params.yaml" />
   </include>
+  -->
 
   <!-- setup default settings for multisense-->
   <node pkg="dynamic_reconfigure" type="dynparam" name="$(anon set_multisense_resolution)"

diff --git a/jsk_hrp2_ros_bridge/launch/hrp2016_auditor.launch b/jsk_hrp2_ros_bridge/launch/hrp2016_auditor.launch
@@ -9,4 +9,10 @@
     <arg name="MULTISENSE_HOST_IP" value="hrp2016v" />
     <arg name="SELF_FILTER_PARAM" default="$(find jsk_hrp2_ros_bridge)/config/HRP2JSKNT_self_filter.yaml" />
   </include>
+  <include file="$(find jsk_hrp2_ros_bridge)/launch/hrp2_multisense_local.launch">
+    <arg name="ip_address" value="192.168.96.112" />
+    <arg name="mtu" value="1500" />
+    <arg name="SELF_FILTER_PARAM" default="$(find jsk_hrp2_ros_bridge)/config/HRP2JSKNT_self_filter.yaml" />
+    <arg name="ODOMETRY_PARAM" default="$(find jsk_robot_startup)/config/HRP2JSKNT_odometry_params.yaml" />
+  </include>
 </launch>