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initial release of webots simulation for scout

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This commit is contained in:
Ruixiang Du
2020-01-31 14:28:38 +08:00
parent 16542b008f
commit 7d4993b1e7
13 changed files with 1313 additions and 1 deletions
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23
scout_webots_sim/launch/scout_base.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- start Webots -->
<arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
<include file="$(find scout_webots_sim)/launch/webots.launch">
<arg name="mode" value="realtime"/>
<arg name="no-gui" value="$(arg no-gui)"/>
<arg name="world" value="$(find scout_webots_sim)/worlds/scout_base.wbt"/>
</include>
<arg name="auto-close" default="false" doc="Startup mode"/>
<node name="scout_webots_node" pkg="scout_webots_sim" type="scout_webots_node" required="$(arg auto-close)">
<param name="use_sim_time" value="true" />
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_link" />
<param name="simulated_robot" type="bool" value="true" />
<param name="sim_control_rate" value="50" />
</node>
<param name="robot_description" textfile="$(find scout_webots_sim)/urdf/agilex_scout_webots.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>

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scout_webots_sim/launch/webots.launch Normal file
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<?xml version="1.0"?>
<launch>
<arg name="world" default="" doc="Path to the world to load"/>
<arg name="mode" default="realtime," doc="Startup mode"/>
<arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
<node name="webots" pkg="webots_ros" type="webots_launcher.py" args="--world=$(arg world) --mode=$(arg mode) --no-gui=$(arg no-gui)" required="true"/>
</launch>