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https://github.com/6-robot/wpr_simulation.git
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21 lines
1.1 KiB
XML
21 lines
1.1 KiB
XML
<launch>
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<arg name="robot_namespace"/>
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<arg name="local_x"/>
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<arg name="local_y"/>
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<arg name="local_yaw"/>
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<group ns="$(arg robot_namespace)">
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<param name="tf_prefix" value="$(arg robot_namespace)" />
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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 -x $(arg local_x) -y $(arg local_y) -z 0 -Y $(arg local_yaw) -urdf -model $(arg robot_namespace)" />
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<!-- RViz and TF tree -->
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<arg name="model" default="$(find wpr_simulation)/models/wpb_home.model"/>
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<arg name="rvizconfig" default="$(find wpr_simulation)/rviz/$(arg robot_namespace).rviz" />
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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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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</group>
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</launch> |