mirror of
https://github.com/wassname/kair_algorithms_draft.git
synced 2026-08-24 12:11:41 +08:00
Geonhee
055d97661e
* Create urdf file * add the urdf file for implementing camera * create launch file for executing gazebo including cam * remove the dummy * remove dummy * change directory
42 lines
1.9 KiB
XML
Executable File
42 lines
1.9 KiB
XML
Executable File
<?xml version="1.0"?>
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<launch>
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<!-- gazebo related args -->
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- robot URDF parse args -->
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<arg name="om_urdf" value="robot_description"/>
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<arg name="urdf_param" default="/robot_description"/>
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<param name="$(arg om_urdf)" textfile="$(find kair_algorithms)/urdf/open_manipulator_cam.urdf.xacro"/>
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<arg name="load_robot_description" default="false"/>
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<!-- gazebo related -->
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<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!--KDL chain related args-->
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<param if="$(arg load_robot_description)" name="$(arg urdf_param)" command="$(find xacro)/xacro --inorder $(find kair_algorithms)/urdf/om.urdf"/>
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find kair_algorithms)/urdf/open_manipulator_cam.urdf.xacro'"/>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
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<!-- ros_control robotis manipulator launch file -->
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<include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>
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</launch>
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