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13 lines
686 B
XML
Executable file
13 lines
686 B
XML
Executable file
<launch>
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<!-- Load URDF file,加载URDF文件 -->
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<arg name="model" default="$(find mycobot_description)/urdf/mercury_b1/mercury_b1.urdf"/>
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<arg name="rvizconfig" default="$(find mercury_b1)/config/mercury_b1.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF ，将值合并到TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
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<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
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</node>
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<!-- show in Rviza,显示在Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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