<?xml version="1.0" ?> <launch> <param command="$(find xacro)/xacro $(find romr_robot)/urdf/romr_robot.xacro" name="robot_description"/> <!-- <arg name="x" default="0.0" /> <arg name="y" default="0.0" /> <arg name="z" default="0.0" /> --> <arg name="x" value="0.67" /> <arg name="y" value="-13.49" /> <arg name="z" value="0.0" /> <node args="-param robot_description -urdf -x $(arg x) -y $(arg y) -z $(arg z) -model romr_robot" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> <include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <!-- set to false if on real-world --> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> <arg name="world_name" value="$(find romr_robot)/worlds/laboratory_world.world"/> </include> </launch>