44 lines
1.7 KiB
XML
44 lines
1.7 KiB
XML
<launch>
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<param name="robot_description" command="$(find xacro)/xacro $(find gazebo_demo1)/urdf/gazebo_demo1.urdf.xacro" />
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<!-- these are the arguments you can pass this launch file, for example paused:=true -->
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find gazebo_demo1)/worlds/gazebo_demo1.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -model myrobot -param robot_description"/>
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<rosparam file="$(find gazebo_demo1)/config/joint_names_gazebo_demo1.yaml" command="load"/>
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/gazebo_demo1" args="lf_position_con
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lb_position_con
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rf_position_con
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rb_position_con
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"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
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respawn="false" output="screen">
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<remap from="/joint_states" to="/gazebo_demo1/joint_states" />
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</node>
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</launch>
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