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14 lines
658 B
Plaintext
14 lines
658 B
Plaintext
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<launch>
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<!-- Set the use_sim_time parameter -->
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<param name="use_sim_time" value="false" />
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<!-- Set the robot description -->
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<param name="robot_description" command="$(find xacro)/xacro $(find cps_rmp220_support)/description/robot.urdf.xacro use_ros_control:=true sim_mode:=$(arg use_sim_time)" />
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<!-- Start the robot state publisher node -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
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<!-- Start the joint state publisher node -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
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</launch>
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