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https://github.com/elephantrobotics/mycobot_ros.git
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25 lines
1.2 KiB
XML
25 lines
1.2 KiB
XML
<launch>
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<!-- <arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" /> -->
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<!-- Load file model ，加载文件模型-->
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<arg name="model" default="$(find mycobot_description)/urdf/ultraArm_p340/ultraArm_p340.urdf"/>
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<arg name="rvizconfig" default="$(find ultraarm)/config/ultraArm.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF， 将值合并到TF-->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<!-- <param name="use_gui" value="$(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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<!-- Open control script -->
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<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
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<param name="port" type="string" value="$(arg port)" />
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<param name="baud" type="int" value="$(arg baud)" />
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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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