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14 lines
690 B
XML
14 lines
690 B
XML
<launch>
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<!-- Load file model .加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/mecharm_pi/mecharm_pi.urdf"/>
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<arg name="rvizconfig" default="$(find mecharm_pi)/config/mecharm_pi.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 Rviz ，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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