add collision_monitor to cob4-1 and cob4-2

ipa320 · Apr 4, 2016 · 3a7c65d · 3a7c65d
1 parent 2856065
commit 3a7c65d
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/cob_bringup/robots/cob4-1.xml b/cob_bringup/robots/cob4-1.xml
@@ -39,10 +39,13 @@
 			<arg name="robot" value="$(arg robot)" />
 			<arg name="name" value="base_laser_left" />
 		</include>
+		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+			<arg name="robot" value="$(arg robot)" />
+		</include>
 		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+		<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
 
@@ -113,6 +116,11 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="torso"/>
 		</include>
+		<include file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
+			<arg name="robot" value="$(arg robot)"/>
+			<arg name="component_name" value="torso"/>
+			<arg name="debug" value="false"/>
+		</include>
 
 		<include file="$(find cob_bringup)/drivers/canopen_402.launch" >
 			<arg name="robot" value="$(arg robot)" />

diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
@@ -39,10 +39,13 @@
 			<arg name="robot" value="$(arg robot)" />
 			<arg name="name" value="base_laser_left" />
 		</include>
+		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+			<arg name="robot" value="$(arg robot)" />
+		</include>
 		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+		<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>