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22 lines
1.0 KiB
XML
22 lines
1.0 KiB
XML
<launch>
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<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
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<arg name="x_pos" default="-3.0"/>
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<arg name="y_pos" default="1.0"/>
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<arg name="z_pos" default="0.0"/>
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<node pkg="tf" type="static_transform_publisher" name="camera_tf" args="-1.95 -0.55 2.0 -1.58 0 -1.58 /odom /camera_link 100"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="true"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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</include>
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<param name="robot_description" command="$(find xacro)/xacro.py $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
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</launch>
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