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18 lines
977 B
XML
18 lines
977 B
XML
<launch>
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<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
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<arg name="model" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.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 -->
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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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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
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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 -->
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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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