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https://github.com/elephantrobotics/mycobot_ros.git
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44 lines
1.8 KiB
XML
Executable file
44 lines
1.8 KiB
XML
Executable file
<launch>
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<arg name="paused" default="false"/>
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<arg name="gazebo_gui" default="true"/>
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<arg name="model"
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default="$(find mycobot_280m5_gazebo_gripper)/config/mycobot_280m5_with_gripper_lll.urdf"/>
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<!-- Optional RViz config -->
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<!-- <arg name="rvizconfig" default="$(find 280m5_gazebo_gripper)/config/robot.rviz"/> -->
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<!-- 1) 启动 Gazebo empty world -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="worlds/empty.world"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="gui" value="$(arg gazebo_gui)"/>
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</include>
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<!-- 2) 加载机器人 URDF -->
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<param name="robot_description" textfile="$(arg model)" />
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<!-- 3) TF & Joint State 发布 -->
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<node name="robot_state_publisher"
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pkg="robot_state_publisher" type="robot_state_publisher"/>
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<node name="joint_state_publisher"
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pkg="joint_state_publisher" type="joint_state_publisher"/>
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<!-- 4) 把 URDF spawn 到 Gazebo -->
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<node name="spawn_gazebo_model"
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pkg="gazebo_ros" type="spawn_model"
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args="-urdf -param robot_description -model firefighter -x 0 -y 0 -z 0"
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respawn="false" output="screen"/>
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<!-- 5) 加载 ros_controllers（会启动 controller_spawner）-->
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<include file="$(find mycobot_280m5_gazebo_gripper)/launch/ros_controllers.launch"/>
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<!-- 6) 启动 MoveIt! 核心节点 -->
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<include file="$(find mycobot_280m5_gazebo_gripper)/launch/move_group.launch">
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<arg name="allow_trajectory_execution" value="true"/>
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<arg name="fake_execution" value="false"/>
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<arg name="info" value="true"/>
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<arg name="debug" value="false"/>
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<!-- load_robot_description 已经在上面做过 -->
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<arg name="load_robot_description" value="false"/>
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</include>
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</launch>
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