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This commit is contained in:
Ruixiang Du
2020-03-26 19:06:34 +08:00
parent 38510eb257
commit dbf04d03d8
10 changed files with 151 additions and 57 deletions
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3
scout_gazebo_sim/launch/scout_empty_world.launch
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@@ -25,6 +25,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-->
<launch>
<arg name="robot_namespace" default="/"/>
<arg name="world_name" default="worlds/empty.world"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -37,7 +38,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<arg name="debug" value="false"/>
</include>
<include file="$(find scout_gazebo)/launch/spawn_scout_v2.launch"></include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
</launch>

18
scout_gazebo_sim/launch/spawn_scout_v2.launch
View File

@@ -5,6 +5,8 @@
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<arg name="robot_namespace" default="/"/>
<!-- 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" />
@@ -12,7 +14,9 @@
<arg name="headless" default="false" />
<arg name="debug" default="true" />
<include file="$(find scout_description)/launch/scout_v2_stock.launch"></include>
<include file="$(find scout_description)/launch/scout_v2_stock.launch">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
</include>
<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
-y $(arg y)
@@ -21,14 +25,16 @@
-unpause
-urdf
-param robot_description
-model 'scout_v2'" />
-model 'scout$(arg robot_namespace)'" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find scout_gazebo)/config/scout_v2_control.yaml" command="load"/>
<rosparam file="$(find scout_gazebo_sim)/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="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
<param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
</node>
</launch>