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13 lines
548 B
XML
13 lines
548 B
XML
<launch>
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
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<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- wpb_home core-->
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<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
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<param name="serial_port" type="string" value="/dev/ftdi"/>
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<rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
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</node>
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</launch> |