launch.yaml

description: "Manus Simulator using Image"
log: "/var/log/manus/"
#user: "manus"
#group" : ["manus"]
#parameters:
#    manus.camera: false
#    manus.manipulator: false
environment:
    MANUS_ROOT: "/usr/local"
    ECHOLIB_SOCKET: "/tmp/echo.sock"
plugins:
    - wait
    - debug
    - echolib.ignition.Mapping
programs:
    echo:
        command: "echorouter"
        required: true
        restart: false
        console: true
        wait: 1
    cameraserver:
        command: "echo_image board1.jpg"
        required: false
        restart: true
        console: true
        directory: "${MANUS_ROOT}/share/manus/static/"
        depends: [echo]
        environment: 
            "LIMIT_FPS": "10"
        remap:
            camera: camera0.image
            intrinsics: camera0.parameters
        wait: 0.1
    artracker:
        command: "manus_artrack board1.yml"
        directory: "${MANUS_ROOT}/share/manus/camera"
        required: false
        restart: false
        ignore: true
        console: true
        debug: false
        depends: [echo, cameraserver]
        remap:
            camera: camera0.image
            intrinsics: camera0.parameters
            location: camera0.location
    manipulator:
        command: "/home/ubuntu/manus_launch/manus_node niryoonemanipulator.yaml"
        depends: [echo]
        directory: "/home/ubuntu/manus_launch"
        restart: false
        console: true
        wait: 1
        remap:
            state: manipulator0.state
            description: manipulator0.description
            plan: manipulator0.plan
            planstate: manipulator0.planstate
            trajectory: manipulator0.trajectory
    planner:
        command: "manus_planner"
        depends: [manipulator]
        required: false
        console: true
        wait: 1
        remap:
            state: manipulator0.state
            description: manipulator0.description
            plan: manipulator0.plan
            planstate: manipulator0.planstate
            trajectory: manipulator0.trajectory