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24 lines
1.0 KiB
XML
24 lines
1.0 KiB
XML
<?xml version="1.0"?>
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<launch>
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<!-- start Webots -->
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<arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
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<include file="$(find scout_webots_sim)/launch/webots.launch">
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<arg name="mode" value="realtime"/>
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<arg name="no-gui" value="$(arg no-gui)"/>
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<arg name="world" value="$(find scout_webots_sim)/worlds/scout_base.wbt"/>
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</include>
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<arg name="auto-close" default="false" doc="Startup mode"/>
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<node name="scout_webots_node" pkg="scout_webots_sim" type="scout_webots_node" required="$(arg auto-close)">
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<param name="use_sim_time" value="true" />
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<param name="odom_frame" type="string" value="odom" />
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<param name="base_frame" type="string" value="base_link" />
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<param name="simulated_robot" type="bool" value="true" />
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<param name="sim_control_rate" value="50" />
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</node>
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<param name="robot_description" textfile="$(find scout_webots_sim)/urdf/agilex_scout_webots.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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</launch>
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