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34 lines
2 KiB
XML
34 lines
2 KiB
XML
<?xml version="1.0"?>
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<launch>
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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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<arg name="initial_joint_positions" default=" -J joint2_to_joint1 0 -J joint3_to_joint2 -1.5708 -J joint4_to_joint3 0 -J joint5_to_joint4 -1.5708 -J joint6_to_joint5 0 -J joint6output_to_joint6 0" doc="Initial joint configuration of the robot"/>
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<!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
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<arg name="paused" value="true"/>
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</include>
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<!-- Set the robot urdf on the parameter server -->
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<param name="robot_description" textfile="$(find mycobot_600_moveit)/config/gazebo_firefighter.urdf" />
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<!-- Unpause the simulation after loading the robot model -->
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<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
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<!-- Spawn the robot in Gazebo -->
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<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
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respawn="false" output="screen" />
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<!-- Load the controller parameters onto the parameter server -->
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<rosparam file="$(find mycobot_600_moveit)/config/gazebo_controllers.yaml" />
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<include file="$(dirname)/ros_controllers.launch"/>
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<!-- Spawn the Gazebo ROS controllers -->
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<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
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<!-- Given the published joint states, publish tf for the robot links -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
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</launch>
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