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<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="rviz" default="true"/>
<arg name="world" default="empty.world"/>
<arg name="host" default="127.0.0.1"/>
<arg name="port" default="12345"/>
<arg name="mode" default="virtual"/>
<arg name="model" default="m1013"/>
<arg name="color" default="white"/>
<arg name="gripper" default="none"/>
<arg name="mobile" default="none"/>
<!-- Start Gazebo with an empty world. -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(find dsr_launcher)/worlds/$(arg world)"/>
</include>
<!-- Spawn the arms. -->
<!-- include file="$(find dsr_bringup)/launch/dsr_base.launch"-->
<include file="$(find dsr_gazebo)/launch/dsr_base.launch">
<arg name="ns" value="dsr01"/>
<arg name="host" value="$(arg host)"/>
<arg name="port" value="$(arg port)"/>
<arg name="mode" value="$(arg mode)"/>
<arg name="model" value="$(arg model)"/>
<arg name="color" value="$(arg color)"/>
<arg name="gripper" value="$(arg gripper)"/>
<arg name="mobile" value="$(arg mobile)"/>
<arg name="x" value="0"/>
<arg name="y" value="0"/>
<arg name="yaw" value="0"/>
</include>
<include file="$(find moveit_config_m0617)/launch/m0617.launch" ns="dsr01">
<arg name="fake_execution" value="false"/>
<arg name="color" value="$(arg color)"/>
</include>
<!-- View in RVIZ. -->
<!--group if="$(arg rviz)"-->
<!--node name="dmodel" pkg="dsr_launcher" type="dmodel.py"/-->
<!--/group-->
</launch>
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