Advertisement
son_of_klaatu

invpend.launch

Jul 3rd, 2016
440
0
Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
XML 0.82 KB | None | 0 0
  1. <launch>
  2.  
  3.     <param name="robot_description"
  4.        command="$(find xacro)/xacro.py '$(find invpend)/urdf/$(arg model).xacro'" />
  5.        
  6.          <rosparam file="$(find invpend)/config/invpend_joint.yaml" command="load"/>
  7.  
  8.   <include file="$(find gazebo_ros)/launch/empty_world.launch"/>
  9.  
  10.   <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
  11.          args="-param robot_description -urdf -model $(arg model)  -z 0.7 -x 0.0 -y -0.0 -P=0.2" />
  12.          
  13.  
  14.  
  15.    
  16. <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/invpend" args="joint_state_controller" />
  17.  
  18. <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
  19.   <remap from="/joint_states" to="/invpend/joint_states" />
  20. </node>
  21.  
  22.    
  23. </launch>
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement