Skip to content
Permalink
Branch: master
Find file Copy path
Find file Copy path
Fetching contributors…
Cannot retrieve contributors at this time
26 lines (21 sloc) 1.04 KB
<launch>
<param name="use_sim_time" value="true" />
<!-- send the erratic robot XML to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_description)/urdf/erratic.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_robot" pkg="gazebo" type="spawn_model"
args="-z 0.01
-unpause
-urdf
-param robot_description
-model robot_description
-ros_namespace /gazebo"
respawn="false" output="screen" />
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="true" output="screen" >-->
<!-- <param name="odom_frame_id" value="odom"/>-->
<!-- </node>-->
</launch>
You can’t perform that action at this time.