From 7ec5c23c4ec96e80d162f07f8af0b99e905c96cb Mon Sep 17 00:00:00 2001
From: Cheolhui <mch5048@korea.ac.kr>
Date: Sun, 31 Mar 2019 20:33:33 +0900
Subject: [PATCH] Add one-shot launch file for gazebo initialization

---
 launch/open_manipulator_env.launch | 52 ++++++++++++++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100755 launch/open_manipulator_env.launch

diff --git a/launch/open_manipulator_env.launch b/launch/open_manipulator_env.launch
new file mode 100755
index 0000000..0cbda14
--- /dev/null
+++ b/launch/open_manipulator_env.launch
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- controller related args -->
+  <arg name="use_robot_name"         default="open_manipulator"/>
+  <arg name="dynamixel_usb_port"     default="/dev/ttyUSB0"/>
+  <arg name="dynamixel_baud_rate"    default="1000000"/>
+  <arg name="control_period"         default="0.010"/>
+  <arg name="use_platform"           default="false"/>
+  <arg name="use_moveit"             default="false"/>
+  <arg name="planning_group_name"    default="arm"/>
+  <arg name="moveit_sample_duration" default="0.050"/>
+  
+  <!-- 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"/>
+
+  <!-- controller related -->
+  <node name="$(arg use_robot_name)" pkg="open_manipulator_controller" type="open_manipulator_controller" output="screen" args="$(arg dynamixel_usb_port) $(arg dynamixel_baud_rate)">
+      <param name="using_platform"       value="$(arg use_platform)"/>
+      <param name="using_moveit"         value="$(arg use_moveit)"/>
+      <param name="planning_group_name"  value="$(arg planning_group_name)"/>
+      <param name="control_period"       value="$(arg control_period)"/>
+      <param name="moveit_sample_duration"  value="$(arg moveit_sample_duration)"/>
+  </node>
+
+  <!-- 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>
+
+    <!-- Load the URDF into the ROS Parameter Server -->
+    <param name="robot_description"
+    command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.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>