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- <?xml version="1.0"?>
- <launch>
- <!-- these are the arguments you can pass this launch file, for example paused:=true -->
- <arg name="paused" default="true"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="extra_gazebo_args" default=""/>
- <arg name="gui" default="false"/>
- <arg name="recording" default="false"/>
- <!-- Note that 'headless' is currently non-functional. See gazebo_ros_pkgs issue #491 (-r arg does not disable
- rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
- launch files, but it does nothing. -->
- <arg name="headless" default="true"/>
- <arg name="debug" default="false"/>
- <arg name="physics" default="ode"/>
- <arg name="verbose" default="false"/>
- <arg name="output" default="screen"/>
- <!-- <arg name="world_name" default="$(find ped_sim)/worlds/$(arg world).world"/> --> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
- <arg name="world_name" default="/mnt/bucket/world_files/$(arg world).world"/>
- <arg name="respawn_gazebo" default="false"/>
- <arg name="use_clock_frequency" default="false"/>
- <arg name="pub_clock_frequency" default="100"/>
- <arg name="enable_ros_network" default="true" />
- <!-- set use_sim_time flag -->
- <param name="/use_sim_time" value="$(arg use_sim_time)"/>
- <!-- set command arguments -->
- <arg unless="$(arg paused)" name="command_arg1" value=""/>
- <arg if="$(arg paused)" name="command_arg1" value="-u"/>
- <arg unless="$(arg recording)" name="command_arg2" value=""/>
- <arg if="$(arg recording)" name="command_arg2" value="-r"/>
- <arg unless="$(arg verbose)" name="command_arg3" value=""/>
- <arg if="$(arg verbose)" name="command_arg3" value="--verbose"/>
- <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
- <arg if="$(arg debug)" name="script_type" value="debug"/>
- <env name="GAZEBO_MODEL_PATH" value="/mnt/bucket/obj_files:$(find ped_sim)/models:$(optenv GAZEBO_MODEL_PATH)"/>
- <env name="GAZEBO_PLUGIN_PATH" value="$(find ped_sim)/../../../build/ped_sim:$(optenv GAZEBO_PLUGIN_PATH)"/>
- <!-- start gazebo server-->
- <group if="$(arg use_clock_frequency)">
- <param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
- </group>
- <group>
- <param name="gazebo/enable_ros_network" value="$(arg enable_ros_network)" />
- </group>
- <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="$(arg respawn_gazebo)" output="$(arg output)"
- args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />
- <!-- start gazebo client -->
- <group if="$(arg gui)">
- <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="$(arg output)" args="$(arg command_arg3)"/>
- </group>
- </launch>
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