31 lines
1.1 KiB
XML
31 lines
1.1 KiB
XML
<?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>
|