From 5f16c480bc4ed3cfb4a0b957d86dbb35411b715b Mon Sep 17 00:00:00 2001
From: Geonhee-LEE <gunhee6392@gmail.com>
Date: Tue, 30 Jul 2019 17:05:12 +0900
Subject: [PATCH] create launch file for executing gazebo including cam

---
 launch/open_manipulator_cam_env.launch | 41 ++++++++++++++++++++++++++
 1 file changed, 41 insertions(+)
 create mode 100755 launch/open_manipulator_cam_env.launch

diff --git a/launch/open_manipulator_cam_env.launch b/launch/open_manipulator_cam_env.launch
new file mode 100755
index 0000000..556ccd7
--- /dev/null
+++ b/launch/open_manipulator_cam_env.launch
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- gazebo related args -->
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+
+  <!-- robot URDF parse args -->
+  <arg name="om_urdf" value="robot_description"/>
+  <arg name="urdf_param" default="/robot_description"/>
+  <param name="$(arg om_urdf)" textfile="$(find kair_algorithms)/urdf/open_manipulator_with_cam.urdf.xacro"/>
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- gazebo related -->
+  <rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="headless" value="$(arg headless)"/>
+  </include>
+
+  <!--KDL chain related args-->
+  <param if="$(arg load_robot_description)" name="$(arg urdf_param)" command="$(find xacro)/xacro --inorder $(find kair_algorithms)/urdf/om.urdf"/>
+
+  <!-- Load the URDF into the ROS Parameter Server -->
+    <param name="robot_description"
+    command="$(find xacro)/xacro --inorder '$(find kair_algorithms)/urdf/open_manipulator_cam.urdf.xacro'"/>
+
+
+  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
+     args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
+
+  <!-- ros_control robotis manipulator launch file -->
+    <include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>   
+</launch>