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21 lines
641 B
XML
21 lines
641 B
XML
<?xml version="1.0"?>
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<launch>
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<!-- urdf文件，模型文件的路径-->
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<arg name="firefighter" default="$(find mycobot_description)/urdf/mycobot_pi/mycobot_urdf.urdf"/>
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<arg name="gui" default="False" />
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<param name="robot_description" textfile="$(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<!-- Show in Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
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</launch>
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