Skip to content
Switch branches/tags

Name already in use

A tag already exists with the provided branch name. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Are you sure you want to create this branch?
Go to file
Cannot retrieve contributors at this time
<!-- ********************* Begin Gazebo Defaults ******************************** -->
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="false"/>
<arg name="headless" default="true"/>
<arg name="debug" default="false"/>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="extra_gazebo_args" default=""/>
<arg name="physics" default="ode"/>
<arg name="verbose" default="true"/>
<arg name="world_name" value="$(find basicbot_gazebo)/worlds/"/>
<arg name="respawn_gazebo" default="false"/>
<arg name="use_clock_frequency" default="false"/>
<arg name="pub_clock_frequency" default="100"/>
<!-- set use_sim_time flag -->
<group if="$(arg use_sim_time)">
<param name="/use_sim_time" value="true" />
<!-- set command arguments -->
<arg unless="$(arg paused)" name="command_arg1" value=""/>
<arg if="$(arg paused)" name="command_arg1" value="-u"/>
<arg unless="$(arg headless)" name="command_arg2" value=""/>
<arg if="$(arg headless)" name="command_arg2" value="-r"/>
<arg unless="$(arg verbose)" name="command_arg3" value=""/>
<arg if="$(arg verbose)" name="command_arg3" value="--verbose"/>
<arg unless="$(arg debug)" name="type" value="gzserver"/>
<arg if="$(arg debug)" name="type" value="debug"/>
<group if="$(arg use_clock_frequency)">
<param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
<!-- ********************* End Gazebo Defaults ******************************** -->
<!-- start gazebo server-->
<remap from="/clock" to="ga1_clock"/>
<env name="GAZEBO_MASTER_URI" value="http://localhost:11345"/>
<node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="$(arg respawn_gazebo)"
output="screen" args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics)
$(arg extra_gazebo_args) $(arg world_name)">
<remap from="clock" to="gazeboclock"/>
<!-- Load the transporter node -->
<node name="basicbot_transporter" pkg="basicbot_ga" type="" output="screen">
<!-- Load the turn_drive_scan node -->
<node name="turn_drive_scan" pkg="basicbot_ga" type="" output="screen">
<!-- Load the step world node -->
<node name="step_world" pkg="world_step" type="step_world_server">
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro '$(find basicbot_description)/urdf/basicbot.xacro'" />
<!-- Run a python script to the 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 basicbot -param robot_description">