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<?xml version="1.0"?>
<!-- Launch file for gribot robot -->
<launch>
<!-- Values passed by command line input -->
<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" />
<master auto="start" />
<!-- We resume the logic in empty_world.launch -->
<!-- <include file="$(find gazebo_ros)/launch/empty_world.launch"> -->
<!-- <arg name="debug" value="$(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> -->
<include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/>
<!-- Load robot description on Parameter Server -->
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find gribot)/urdf/gribot.xacro" >
<arg name="load_robot_description" value="true"/>
</param>
<param name="use_gui" value="$(arg gui)" />
<!-- very important for Joystick -->
<!-- defines which field contain which axe -->
<param name="axis_linear" value="1" type="int" />
<param name="axis_angular" value="0" type="int" />
<!-- Start the joystick nodes -->
<node name="joystick" pkg="joy" type="joy_node" output="screen" respawn="true" >
<param name="dev" type="string" value="/dev/input/js0" />
<param name="deadzone" value="0.12" />
</node>
<!-- Start the joystick node transformer -->
<node name="teleopjoy" pkg="gribot" type="teleopjoy" respawn="true" >
<param name="dev" type="string" value="/dev/input/js0" />
<param name="deadzone" value="0.12" />
</node>
<!-- Run a python script to send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model gribot -param robot_description" />
<!-- Start rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find gribot)/urdf/urdf.rviz" required="true" clear_params="true" />
<!-- Start robot state publisher: publish the state of the robot -->
<!-- publish tf between links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
<param name="use_tf_static" value="true" />
</node>
<!-- Start the robot joint state publisher -->
<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> -->
<!-- Start CANOpen nodes for controlling motors -->
<!-- <node name="driver" pkg="canopen_motor_node" type="canopen_motor_node" output="screen" clear_params="true" launch-prefix=""> -->
<!-- <rosparam command="load" file="$(find gribot)/config/can0.yaml" /> -->
<!-- </node> -->
<!-- Start map server -->
<include file="$(find gribot)/launch/include/map_server.launch" />
<!-- Start gmapping -->
<!-- <include file="$(find gribot)/launch/include/slam_gmapping.launch" /> -->
<!-- Start move_base -->
<include file="$(find gribot)/launch/include/move_base.launch" />
<!-- Start amcl -->
<include file="$(find gribot)/launch/include/amcl.launch" />
</launch>
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