mirror of
https://github.com/wassname/kair_algorithms_draft.git
synced 2026-08-28 12:50:42 +08:00
43 lines
2.0 KiB
XML
43 lines
2.0 KiB
XML
<launch>
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<!-- These are the arguments you can pass this launch file, for example paused:=true -->
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<arg name="use_robot_name" default="open_manipulator"
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doc="Must match the robotNamespace tag in the gazebo description file"/>
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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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<arg name="use_platform" default="false"/>
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<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(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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<!-- 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 open_manipulator_description)/urdf/open_manipulator.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="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch">
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<arg name="use_robot_name" value="$(arg use_robot_name)"/>
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</include>
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<!-- Run demo collector node -->
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<node name="open_manipulator_demo_collector" pkg="kair_algorithms" type="run_open_manipulator_demo.py" respawn="false" output="screen">
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<param name="use_platform" value="$(arg use_platform)" />
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</node>
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</launch>
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