`controllers.launch`文件是機械臂底層驅動的啟動文件。各個參數可以用來調試can和dxl通信。 ``` <?xml version="0.0"?> <launch> <!-- set to true if you want to launch ROS on your computer - controller will just echo position command - all hardware relative stuff is deactivated --> <arg name="simulation_mode" default="false" /> <!-- set to true to disable hardware communication for CAN bus (Gauss Steppers) or DXl bus (DEBUG PURPOSES) --> <arg name="disable_can_for_debug" default="false" /> <arg name="disable_dxl_for_debug" default="false" /> <node name="gauss_driver" pkg="gauss_driver" type="gauss_driver" output="screen"> <rosparam file="$(find gauss_bringup)/config/gauss_driver.yaml" /> <param name="fake_communication" type="bool" value="$(arg simulation_mode)" /> <param name="can_enabled" type="bool" value="true" unless="$(arg disable_can_for_debug)" /> <param name="can_enabled" type="bool" value="false" if="$(arg disable_can_for_debug)" /> <param name="dxl_enabled" type="bool" value="true" unless="$(arg disable_dxl_for_debug)" /> <param name="dxl_enabled" type="bool" value="false" if="$(arg disable_dxl_for_debug)" /> </node> <node name="gauss_tools" pkg="gauss_tools" type="tool_controller.py" output="screen" respawn="false"> <rosparam file="$(find gauss_tools)/config/end_effectors.yaml" /> </node> <!-- Load controller settings --> <rosparam file="$(find gauss_driver)/config/gauss_controllers.yaml" command="load"/> <!-- spawn controllers --> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller gauss_follow_joint_trajectory_controller --shutdown-timeout 1"/> <!-- robot state publisher --> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" /> </launch> ```