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https://github.com/westonrobot/scout_ros.git
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29 lines
1.2 KiB
XML
29 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<launch>
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<arg name="x_pos" default="-2.0"/>
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<arg name="y_pos" default="-0.5"/>
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<arg name="z_pos" default="0.0"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<!--arg name="world_name" value="$(find scout_robot)/worlds/turtlebot3_world.world"/-->
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<arg name="world_name" value="$(find scout_robot)/worlds/clearpath_playpen.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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</include>
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<param name="robot_description" command="$(find xacro)/xacro.py '$(find scout_robot)/urdf/scout.xacro'"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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</node>
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
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<param name="publish_frequency" type="double" value="50.0" />
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</node>
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<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)" />
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</launch>
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