mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
updated scout description, still working on scout gazebo sim control
This commit is contained in:
Ruixiang Du
38
scout_gazebo_sim/launch/husky_playpen.launch
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38
scout_gazebo_sim/launch/husky_playpen.launch
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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file husky_playpen.launch
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<arg name="laser_enabled" default="true"/>
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<arg name="kinect_enabled" default="false"/>
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<include file="$(find husky_gazebo)/launch/playpen.launch" />
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<include file="$(find husky_gazebo)/launch/spawn_husky.launch">
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<arg name="laser_enabled" value="$(arg laser_enabled)"/>
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<arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
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</include>
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</launch>
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37
scout_gazebo_sim/launch/playpen.launch
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37
scout_gazebo_sim/launch/playpen.launch
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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file husky_playpen.launch
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find husky_gazebo)/worlds/clearpath_playpen.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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</include>
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</launch>
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43
scout_gazebo_sim/launch/scout_empty_world.launch
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43
scout_gazebo_sim/launch/scout_empty_world.launch
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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file husky_empty_world.launch
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<launch>
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<arg name="world_name" default="worlds/empty.world"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(arg world_name)"/>
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<!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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</include>
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<include file="$(find scout_gazebo)/launch/spawn_scout_v2.launch"></include>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
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</launch>
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34
scout_gazebo_sim/launch/spawn_scout_v2.launch
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34
scout_gazebo_sim/launch/spawn_scout_v2.launch
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<launch>
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<!-- initial pose -->
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<arg name="x" default="0.0"/>
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<arg name="y" default="0.0"/>
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<arg name="z" default="0.0"/>
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<arg name="yaw" default="0.0"/>
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<!-- these are the arguments you can pass this launch file, for example paused:=true -->
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<arg name="paused" default="true" />
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<arg name="use_sim_time" default="false" />
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<arg name="gui" default="true" />
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<arg name="headless" default="false" />
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<arg name="debug" default="true" />
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<include file="$(find scout_description)/launch/scout_v2_stock.launch"></include>
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<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
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-y $(arg y)
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-z $(arg z)
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-Y $(arg yaw)
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-unpause
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-urdf
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-param robot_description
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-model 'scout_v2'" />
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find scout_gazebo)/config/scout_v2_control.yaml" command="load"/>
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<!-- load the controllers -->
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
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<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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</launch>
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