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<?xml version="1.0"?>
<arg name="limited" default="false"/>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 0.0" />
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
<!-- push robot_description to factory and spawn robot in gazebo -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find khi_rs_description)/urdf/rs007l.urdf.xacro'" />
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="$(arg gzpose) -urdf -param robot_description -model robot " respawn="false" output="screen" />
<!-- Robot state publisher -->
<include file="$(find khi_rs_gazebo)/launch/controller.launch"/>
<!-- load the rs007 controllers -->
<include file="$(find khi_rs_gazebo)/launch/rs007l_gazebo_control.launch"/>
<!-- Set initial joint positions(only duaro) -->
<!-- <node name="go_initial" pkg="khi_rs_gazebo" type="" /> -->
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