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<launch>
<!-- set param -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- launch gazebo -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="physics" value="bullet" />
<arg name="world_name" value="$(find simple_arm_2)/launch/sim.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- spawn model -->
<arg name="model" default="$(find simple_arm_2)/urdf/simple_arm.urdf"/>
<param name="robot_description" textfile="$(arg model)"/>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model simple_arm -param robot_description"/>
<!-- launch control -->
<include file="$(find simple_arm_2)/launch/control.launch" />
</launch>