Advertisement
Not a member of Pastebin yet?
Sign Up,
it unlocks many cool features!
- <launch>
- <param name="robot_description"
- command="$(find xacro)/xacro.py '$(find invpend)/urdf/$(arg model).xacro'" />
- <rosparam file="$(find invpend)/config/invpend_joint.yaml" command="load"/>
- <include file="$(find gazebo_ros)/launch/empty_world.launch"/>
- <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
- args="-param robot_description -urdf -model $(arg model) -z 0.7 -x 0.0 -y -0.0 -P=0.2" />
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/invpend" args="joint_state_controller" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
- <remap from="/joint_states" to="/invpend/joint_states" />
- </node>
- </launch>
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement