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40 lines
1.7 KiB
XML
40 lines
1.7 KiB
XML
<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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<arg name="robot_namespace" default="/"/>
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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="true" />
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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="$(find scout_description)/launch/scout_v2_stock.launch">
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<arg name="robot_namespace" value="$(arg robot_namespace)" />
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</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 $(arg yaw)
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-unpause
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-urdf
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-param robot_description
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-model 'scout$(arg robot_namespace)'" />
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>
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<!-- load the controllers -->
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
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<param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
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</node>
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</launch> |