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15 lines
619 B
XML
15 lines
619 B
XML
<launch>
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
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<arg name="gui" default="true" />
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<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/urdf.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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