mirrors/scout_ros
1
0
Fork 0
mirror of https://github.com/westonrobot/scout_ros.git synced 2026-01-12 11:20:02 +08:00
Code Issues Packages Projects Releases Wiki Activity

saved work, odom not right, to be fixed

Browse Source
This commit is contained in:
Ruixiang Du
2020-04-13 14:11:23 +08:00
parent cf69732e50
commit a0fae1b0f1
71 changed files with 8083 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
scout_robot/launch/scout_world.launch Normal file
View File

@@ -0,0 +1,28 @@
<?xml version="1.0"?>
<launch>
<arg name="x_pos" default="-2.0"/>
<arg name="y_pos" default="-0.5"/>
<arg name="z_pos" default="0.0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!--arg name="world_name" value="$(find scout_robot)/worlds/turtlebot3_world.world"/-->
<arg name="world_name" value="$(find scout_robot)/worlds/clearpath_playpen.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find scout_robot)/urdf/scout.xacro'"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model robot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos)" />
</launch>