mirror of
https://github.com/wassname/kair_algorithms_draft.git
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51 lines
2.2 KiB
XML
Executable File
51 lines
2.2 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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<!-- rviz & tf related args -->
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<arg name="robot_name" default="open_manipulator"/>
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<arg name="open_rviz" default="false" />
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<arg name="use_gui" 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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<!-- rviz related -->
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<!-- Send joint values -->
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<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
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<param name="/use_gui" value="$(arg use_gui)"/>
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<rosparam param="source_list" subst_value="true">["$(arg robot_name)/joint_states"]</rosparam>
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</node>
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<!-- Combine joint values to TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
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<!-- Show in Rviz -->
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<group if="$(arg open_rviz)">
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_description)/rviz/open_manipulator.rviz"/>
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</group>
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(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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</launch>
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