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17 lines
880 B
XML
17 lines
880 B
XML
<launch>
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<!-- Load file model，加载文件模型 -->
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<arg name="model" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
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<arg name="rvizconfig" default="$(find mypalletizer_260)/config/mypal_260.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF ，将值合并到TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="use_gui" value="$(arg gui)" />
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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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