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ros launch file

a guest Oct 25th, 2011 790 Never
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  1. <launch>
  2. <node pkg="gazebo" type="gazebo" name="gazebo" args="$(find gazebo_worlds)/worlds/empty.world"></node>
  3.        
  4. <!-- send world urdf to param server -->
  5. <param name="world/robot_description" command="$(find xacro)/xacro.py $(find cob_gazebo_worlds)/common/worlds/ipa-kitchen.urdf.xacro" />
  6.  
  7. <!-- push world_description to factory and spawn world model in gazebo -->
  8. <node ns="world" name="spawn_urdf_world" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -namespace world -x 0 -y 0 -z 0.01 -R 0.0 -P 0.0 -Y 0 -model ipa-kitchen" respawn="false" output="screen" />
  9.        
  10. <node ns="world" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
  11.   <param name="publish_frequency" type="double" value="1.0" />
  12.   <param name="tf_prefix" type="string" value="world_tf" />
  13.  </node>
  14.  <node ns="world" pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
  15.   <param name="publish_frequency" type="double" value="1.0" />
  16.   <param name="tf_prefix" type="string" value="world_tf" />
  17.  </node>
  18.        
  19. <param name="/use_sim_time" value="true"/>
  20.        
  21. <node name="rviz" pkg="rviz" type="rviz"/>
  22.        
  23. </launch>
  24.  
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