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https://github.com/elephantrobotics/mycobot_ros.git
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21 lines
907 B
XML
21 lines
907 B
XML
<?xml version="1.0"?>
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<launch>
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<!-- MoveIt options -->
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<arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
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<!-- Gazebo options -->
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<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
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<arg name="paused" default="false" doc="Start Gazebo paused"/>
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<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
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<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
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<!-- Launch Gazebo and spawn the robot -->
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<include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
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<!-- Launch MoveIt -->
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<include file="$(dirname)/demo.launch" pass_all_args="true">
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<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
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<arg name="load_robot_description" value="false" />
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<arg name="moveit_controller_manager" value="ros_control" />
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</include>
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</launch>
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