not_grouped_basicbot_ga.launch

<launch>

<!-- ********************* 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/basicbot.world"/>
  <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" />
  </group>
 
  <!-- 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)" />
  </group>

<!-- ********************* 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"/>
  </node>

  <!-- Load the transporter node -->
  <node name="basicbot_transporter" pkg="basicbot_ga" type="basicbot_transporter.py" output="screen">
  </node>

	<!-- Load the turn_drive_scan node -->
	<node name="turn_drive_scan" pkg="basicbot_ga" type="turn_drive_scan_node.py" output="screen">
  </node>

	<!-- Load the step world node -->
  <node name="step_world" pkg="world_step" type="step_world_server">
  </node>

  <!-- 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">
    </node>

</launch>