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https://github.com/6-robot/wpr_simulation.git
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21 lines
1.4 KiB
XML
21 lines
1.4 KiB
XML
<launch>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find wpr_simulation)/worlds/wpb_simple.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="recording" value="false"/>
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<arg name="debug" value="false"/>
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</include>
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<!-- Spawn the objects into Gazebo -->
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<node name="orange_ball" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/balls/orange_ball.model -x 2.0 -y -0 -z 0 -urdf -model orange_ball" />
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<node name="red_ball" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/balls/red_ball.model -x 2.0 -y 0.5 -z 0 -urdf -model red_ball" />
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<node name="green_ball" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/balls/green_ball.model -x 2.0 -y -0.5 -z 0 -urdf -model green_ball" />
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<node name="blue_ball" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/balls/blue_ball.model -x 3.0 -y -0 -z 0 -urdf -model blue_ball" />
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<!-- Spawn a robot into Gazebo -->
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/wpb_home.model -urdf -model wpb_home" />
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</launch> |