mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-14 09:00:53 +00:00
39 lines
1.7 KiB
XML
39 lines
1.7 KiB
XML
<launch>
|
|
<arg name="paused" default="false"/>
|
|
<arg name="gazebo_gui" default="true"/>
|
|
|
|
<!-- Load URDF file -->
|
|
<arg name="model" default="$(find 280m5_gazebo_gripper)/config/mycobot_280m5_with_gripper_lll.urdf"/>
|
|
|
|
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
|
<arg name="world_name" default="worlds/empty.world"/>
|
|
<arg name="paused" value="$(arg paused)"/>
|
|
<arg name="gui" value="$(arg gazebo_gui)"/>
|
|
</include>
|
|
|
|
<param name="robot_description" textfile="$(arg model)" />
|
|
|
|
<!-- Combine joint values to TF -->
|
|
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
|
|
|
<!-- Joint State Publisher GUI -->
|
|
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
|
|
|
|
<!-- Show in RViz -->
|
|
<!-- Uncomment the following line if you want to use RViz -->
|
|
<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> -->
|
|
|
|
<!-- Push robot_description to factory and spawn robot in Gazebo at the origin -->
|
|
<include file="$(find 280m5_gazebo_gripper)/launch/move_group.launch">
|
|
<arg name="allow_trajectory_execution" value="true"/>
|
|
<arg name="fake_execution" value="false"/>
|
|
<arg name="info" value="true"/>
|
|
<arg name="debug" value="false"/>
|
|
<arg name="load_robot_description" value="false"/>
|
|
</include>
|
|
|
|
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
|
|
respawn="false" output="screen" />
|
|
|
|
<include file="$(find 280m5_gazebo_gripper)/launch/ros_controllers.launch"/>
|
|
</launch>
|