gazebo.launch

<launch>

  <arg name="paused" default="true"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="rviz" default="false"/>
  <arg name="model" default="$(find stretch_gazebo)/urdf/stretch_gazebo.urdf.xacro"/>
  <arg name="gpu_lidar" default="false"/>
  <arg name="visualize_lidar" default="false"/>
  <arg name="world" default="worlds/empty.world"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(arg 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)"/>
    <arg name="verbose" value="true"/>
  </include>

  <param name="robot_description" command="$(find xacro)/xacro $(arg model) gpu_lidar:=$(arg gpu_lidar) visualize_lidar:=$(arg visualize_lidar)" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
        args=" -urdf -model robot -param robot_description -J joint_lift 0.2 -J joint_wrist_yaw 3.14" respawn="false" output="screen" />

  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>

  <rosparam command="load"
            file="$(find stretch_gazebo)/config/joints.yaml" 
            ns="stretch_joint_state_controller" />

  <rosparam command="load"
            file="$(find stretch_gazebo)/config/drive_config.yaml"
            ns="stretch_diff_drive_controller" />

  <rosparam command="load"
            file="$(find stretch_gazebo)/config/arm.yaml"/>

  <rosparam command="load"
            file="$(find stretch_gazebo)/config/head.yaml" />

  <rosparam command="load"
            file="$(find stretch_gazebo)/config/gripper.yaml" />

  <node name="stretch_controller_spawner" pkg="controller_manager" type="spawner"
        args="stretch_joint_state_controller stretch_diff_drive_controller stretch_arm_controller stretch_head_controller stretch_gripper_controller"/>

  <node name="publish_ground_truth_odom" pkg="stretch_gazebo" type="publish_ground_truth_odom.py" output="screen"/>

</launch>