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turtlebot3_manipulation_gazebo.launch
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turtlebot3_manipulation_gazebo.launch
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<launch>
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [waffle, waffle_pi]"/>
<arg name="gui" default="true"/>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<rosparam file="$(find turtlebot3_manipulation_gazebo)/config/gazebo_controller.yaml" command="load"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
</include>
<!-- send robot urdf to param server -->
<include file="$(find turtlebot3_manipulation_description)/launch/turtlebot3_manipulation_upload.launch">
<arg name="model" value="$(arg model)"/>
</include>
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -param robot_description -model robot -x 0.0 -y 0.0 -Y 0.0 -J joint1 0.0 -J joint2 0.0 -J joint3 0.0 -J joint4 0.0 -J gripper 0.0 -J gripper_sub 0.0"/>
<!-- controller utils -->
<include file="$(find turtlebot3_manipulation_gazebo)/launch/controller_utils.launch"/>
<!-- run controllers -->
<include file="$(find turtlebot3_manipulation_gazebo)/launch/turtlebot3_manipulation_controller.launch"/>
</launch>