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updated scout description, still working on scout gazebo sim control

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Ruixiang Du
2020-03-25 23:46:23 +08:00
parent 9c26ce9c34
commit 38510eb257
17 changed files with 3900 additions and 43 deletions
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34
scout_gazebo_sim/launch/spawn_scout_v2.launch Normal file
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<launch>
<!-- initial pose -->
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true" />
<arg name="use_sim_time" default="false" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="true" />
<include file="$(find scout_description)/launch/scout_v2_stock.launch"></include>
<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
-y $(arg y)
-z $(arg z)
-Y $(arg yaw)
-unpause
-urdf
-param robot_description
-model 'scout_v2'" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find scout_gazebo)/config/scout_v2_control.yaml" command="load"/>
<!-- load the controllers -->
<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"/>
<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>