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21 lines
722 B
XML
21 lines
722 B
XML
<launch>
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<!-- specify the planning pipeline -->
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<arg name="pipeline" default="ompl" />
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<!-- Gazebo specific options -->
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<arg name="gazebo_gui" default="true"/>
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<arg name="paused" default="false"/>
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<!-- launch the gazebo simulator and spawn the robot -->
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<include file="$(dirname)/gazebo.launch" >
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<arg name="paused" value="$(arg paused)"/>
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<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
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</include>
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<include file="$(dirname)/demo.launch" pass_all_args="true">
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<!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
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<arg name="load_robot_description" value="false" />
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<arg name="moveit_controller_manager" value="ros_control" />
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</include>
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</launch>
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