Rune Harlyk
21 lines
1.3 KiB
XML
21 lines
1.3 KiB
XML
<launch>
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<!-- This launchfile loads a differential drive robot into RViz, whose parameters are set
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and can be modified in diff_params.yaml -->
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<!-- load the urdf into the parameter server from the xacro file-->
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<param name="robot_description" command="xacro '$(find mini_ros)/urdf/spot.urdf.xacro'" />
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<!-- The robot_state_publisher reads the urdf from /robot_description parameter
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and listens to joint information on the /joint_states topic -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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<!-- The joint state publisher will be launched with a gui, read the urdf from /robot_description
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and publish the joint values on /joint_states. Optional launch using use_jsp_gui:=1 -->
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<arg name="use_jsp_gui" default="True" doc="Launch the joint_state_publisher gui to publish joint angles"/>
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
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<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> -->
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<!-- rviz will enable us to see the robot. REQUIRED NODE - All other nodes terminate when RViz closes -->
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<node name="rviz" pkg="rviz" type="rviz" required="True" args="-d $(find mini_ros)/rviz/spot.rviz"/>
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</launch> |