mirror of
https://github.com/6-robot/wpr_simulation.git
synced 2025-09-15 12:59:01 +08:00
47 lines
2.3 KiB
XML
47 lines
2.3 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/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="table" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/table.model -x 1.2 -y 0.0 -z 0 -Y 0 -urdf -model table" />
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<node name="red_bottle" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/bottles/red_bottle.model -x 1.1 -y 0.3 -z 2.0 -Y 0 -urdf -model red_bottle" />
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<node name="green_bottle" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/bottles/green_bottle.model -x 1.1 -y -0.2 -z 2.0 -Y 0 -urdf -model green_bottle" />
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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 $(find wpr_simulation)/models/wpb_home_mani.model -urdf -model wpb_home_mani" />
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<!-- load the controllers of WPB_HOME -->
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<include file="$(find wpr_simulation)/launch/wpb_home_controllers.launch"/>
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<!-- wpb_home_grab_server -->
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<node pkg="wpb_home_behaviors" type="wpb_home_grab_server" name="wpb_home_grab_server" />
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<!-- wpb_home_objects_3d -->
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<node pkg="wpb_home_behaviors" type="wpb_home_objects_3d" name="wpb_home_objects_3d" output="screen">
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<param name="topic" type="string" value="/kinect2/sd/points"/>
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<param name="start" type="bool" value="true"/>
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</node>
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<!-- wpb_home_grab_action -->
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<node pkg="wpb_home_behaviors" type="wpb_home_grab_action" name="wpb_home_grab_action">
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<rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
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</node>
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<!-- rviz -->
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
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<arg name="gui" default="false" />
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<arg name="rvizconfig" default="$(find wpr_simulation)/rviz/grab.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch> |