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18 lines
769 B
XML
18 lines
769 B
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 a robot into Gazebo -->
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-file $(find wpr_simulation)/models/wpr1.model -urdf -model wpr1" />
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<!-- load the controllers of WPR1 -->
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<include file="$(find wpr_simulation)/launch/wpr1_controllers.launch"/>
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</launch> |