/
ackermann_run.launch
37 lines (26 loc) · 1.35 KB
/
ackermann_run.launch
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<?xml version="1.0" encoding="UTF-8" ?>
<launch>
<!-- *********************************************************************** -->
<arg name="model" default="$(find custom_ackermann_steering_controller_ros)/urdf/main.xacro"/>
<arg name="rvizconfig" default="$(find custom_ackermann_steering_controller_ros)/rviz/base.rviz"/>
<arg name="ackermann_steering" default="$(find custom_ackermann_steering_controller_ros)/config/ackermann_steering_config.yaml"/>
<!-- *********************************************************************** -->
<!-- Launch gazebo -->
<include file="$(find custom_ackermann_steering_controller_ros)/launch/gazebo.launch">
<arg name="model" value="$(arg model)"/>
</include>
<!-- *********************************************************************** -->
<!-- Launch rviz -->
<include file="$(find custom_ackermann_steering_controller_ros)/launch/rviz.launch">
<arg name="model" value="$(arg model)"/>
<arg name="rvizconfig" value="$(arg rvizconfig)"/>
</include>
<!-- *********************************************************************** -->
<!-- Run controller node -->
<node
pkg="custom_ackermann_steering_controller_ros"
type="ackermann_steering_controller.py"
name="ackermann_steering_controller"
output="screen"/>
<!-- *********************************************************************** -->
</launch>