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Jun 14th, 2019
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  1. <launch>
  2.   <!-- These are the arguments you can pass this launch file, for example paused:=true -->
  3.   <arg name="use_robot_name" default="open_manipulator"
  4.       doc="Must match the robotNamespace tag in the gazebo description file"/>
  5.    <arg name="use_robot_name_2" default="open_manipulator_2"
  6.       doc="Must match the robotNamespace tag in the gazebo description file"/>
  7.   <arg name="paused" default="false"/>
  8.   <arg name="use_sim_time" default="true"/>
  9.   <arg name="gui" default="true"/>
  10.   <arg name="headless" default="false"/>
  11.   <arg name="debug" default="false"/>
  12.  
  13.   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  14.   <include file="$(find gazebo_ros)/launch/empty_world.launch">
  15.     <arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
  16.     <arg name="debug" value="$(arg debug)" />
  17.     <arg name="gui" value="$(arg gui)" />
  18.     <arg name="paused" value="$(arg paused)"/>
  19.     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
  20.     <arg name="headless" value="$(arg headless)"/>
  21.   </include>
  22.  
  23.  
  24.  
  25.   <!-- Load the URDF into the ROS Parameter Server -->
  26.   <param name="robot_description"
  27.   command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>
  28.  
  29.  
  30. <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  31.   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  32.     args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
  33.  
  34.  
  35. <!-- Load the URDF into the ROS Parameter Server -->
  36.   <param name="robot_description_2"
  37.   command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>
  38.  
  39.  
  40. <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  41.   <node name="urdf_spawner_2" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  42.     args="-urdf -model open_manipulator_2 -y 1.0 -param robot_description_2"/>
  43.  
  44.  <!-- ros_control robotis manipulator launch file -->
  45.    <include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch">
  46.       <arg name="use_robot_name" value="$(arg use_robot_name)"/>
  47.       <arg name="use_robot_name_2" value="$(arg use_robot_name_2)"/>
  48.     </include>
  49.  
  50.  
  51. </launch>
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