/
gazebo.launch
69 lines (61 loc) · 2.84 KB
/
gazebo.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
<?xml version="1.0" encoding="UTF-8" ?>
<launch>
<!-- *********************************************************************** -->
<!-- These are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="model" default="$(find custom_ackermann_steering_controller_ros)/urdf/main.xacro"/>
<arg name="world" default="$(find custom_ackermann_steering_controller_ros)/world/empty_world.world" />
<arg name="ackermann_steering" default="$(find custom_ackermann_steering_controller_ros)/config/ackermann_steering_config.yaml"/>
<!-- <arg name="pid_controllers" default="$(find custom_ackermann_steering_controller_ros)/config/pid_params.yaml"/> -->
<!-- *********************************************************************** -->
<!-- Load joint controller configuration from YAML file to parameter server -->
<rosparam file="$(arg ackermann_steering)" command="load"/>
<!-- <rosparam file="$(arg pid_controllers)" command="load"/> -->
<!-- *********************************************************************** -->
<!-- We resume the logic in empty_world.launch -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
<arg name="headless" value="$(arg headless)" />
<arg name="use_sim_time" value="$(arg use_sim_time)" />
</include>
<!-- *********************************************************************** -->
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>
<!-- *********************************************************************** -->
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner"
pkg="gazebo_ros"
type="spawn_model"
respawn="false"
output="screen"
args="-x 0.0
-y 0.0
-z 0.5
-unpause
-urdf
-model name_robot
-param robot_description"/>
<!-- *********************************************************************** -->
<!-- Load the controllers -->
<!-- Run robot_state_publisher for plicate state and transformation joints -->
<node
name="controller_manager"
pkg="controller_manager"
type="controller_manager"
respawn="false"
output="screen"
args="
spawn
/ackermann_steering_controller/joint_state_controller
/ackermann_steering_controller/front_left_wheel_position_controller
/ackermann_steering_controller/front_right_wheel_position_controller
/ackermann_steering_controller/rear_left_wheel_velocity_controller
/ackermann_steering_controller/rear_right_wheel_velocity_controller" />
</launch>