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https://github.com/6-robot/wpr_simulation.git
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18 lines
858 B
XML
18 lines
858 B
XML
<launch>
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<!-- Robot Description -->
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<arg name="model" default="$(find wpr_simulation)/models/wpb_home.model"/>
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<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- tf : map -> base_footprint -->
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<node pkg="tf" type="static_transform_publisher" name="map_footprint_broadcaster" args="2 1 0 0 0 0.707 0.707 map base_footprint 30" />
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<!-- demo_map_pub -->
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<node pkg="wpr_simulation" type="demo_map_pub" name="demo_map_pub"/>
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<!-- RViz -->
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<arg name="rvizconfig" default="$(find wpr_simulation)/rviz/map_pub.rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch> |