mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
17 lines
827 B
XML
17 lines
827 B
XML
<launch>
|
|
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_450/mycobot_pro_450.urdf"/>
|
|
<arg name="rvizconfig" default="$(find mycobot_pro_450)/config/mycobot_pro_450.rviz" />
|
|
|
|
<arg name="gui" default="true" />
|
|
|
|
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
|
|
|
<!-- Combinejoin values to TF -->
|
|
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
|
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
|
<param name="use_gui" value="$(arg gui)" />
|
|
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
|
</node>
|
|
<!-- Show in Rviz-->
|
|
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
|
</launch>
|