<?xml version="1.0" ?>

<!-- *********** This launch file launches the o2s in an empty Gazebo world *********** -->
<launch>
  <include
    file="$(find gazebo_ros)/launch/empty_world.launch" />
  <node
    name="tf_footprint_base"
    pkg="tf"
    type="static_transform_publisher"
    args="0 0 0 0 0 0 base_link base_footprint 40" />
  <node
    name="spawn_model"
    pkg="gazebo_ros"
    type="spawn_model"
    args="-file $(find o2s_robot)/urdf/o2s_robot.xacro -urdf -model o2s_robot"
    output="screen" />
  <!--<node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" /> -->
</launch>
