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11 lines
699 B
XML
11 lines
699 B
XML
<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/three_gripper/mycobot_pro_three_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_description)/urdf/three_gripper/three_gripper.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="static_transform_publisher" args="0 0 0 0 0 0 world gripper_base"/> -->
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<!-- 使用 RViz 显示 -->
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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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