fixed launch file to accept arguments

put an example calibration data file in the force_torque_sensor_calib package

gravity_compensation/config/ft_calib_data_example.yaml → force_torque_sensor_calib/config/ft_calib_data_example.yaml

@@ -1,6 +1,6 @@
 bias: [0.3335902563814901, -11.631592322289318, 4.424475064686977, -0.24147661327763542,
   -0.3289967568397482, -0.10030157420758729]
-gripper_com_frame_id: /left_arm_ft_sensor
+gripper_com_frame_id: /ft_sensor
 gripper_com_pose: [0.0023920647465803537, -0.0020236657037968446, 0.0791345548713843,
   0.0, 0.0, 0.0]
 gripper_mass: 1.6954823452240575

gravity_compensation/launch/gravity_compensation.launch

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="node_name" default="gravity_compensation"/>
+  <arg name="calib_data_file" default="$(env HOME)/.ros/ft_calib/ft_calib_data.yaml"/>
+  <arg name="ft_raw" default="/ft_sensor/ft_raw"/>
+  <arg name="imu" default="/imu/data"/>
+  <arg name="loop_rate" default="1000.0"/>
+  <arg name="ns" default="/ft_sensor"/>
+  <arg name="gripper_com_child_frame_id" default="gripper_com"/>
+
+  <node name="$(arg node_name)" pkg="gravity_compensation" type="gravity_compensation_node" cwd="node" respawn="false" output="screen">
+    <rosparam command="load" file="$(arg calib_data_file)"/>
+    <remap from="$(arg node_name)/ft_raw" to="$(arg ft_raw)" />
+    <remap from="$(arg node_name)/imu" to="$(arg imu)" />
+    <param name="loop_rate" value="$(arg loop_rate)" />
+    <param name="ns" value="$(arg ns)"/>
+    <param name="gripper_com_child_frame_id" value="$(arg gripper_com_child_frame_id)"/>
+  </node>
+
+</launch>