Rune Harlyk
24 lines
1017 B
XML
24 lines
1017 B
XML
<launch>
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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 '$(find mini_ros)/urdf/spot.urdf.xacro'" />
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- We reuse the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="true"/>
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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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<!-- Spawn the urdf -->
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -x 0.0 -y 0.0 -z 0.26 -model spot" respawn="false" output="screen"/>
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<include file="$(find mini_ros)/launch/controller.launch"/>
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</launch> |