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Added gazebo launch file #936

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merged 1 commit into from Aug 9, 2018
Merged

Added gazebo launch file #936

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22 changes: 22 additions & 0 deletions moveit_setup_assistant/templates/moveit_config_pkg_template/launch/gazebo.launch
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<?xml version="1.0"?>
<launch>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>

<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
</include>

<!-- send robot urdf to param server -->
<param name="robot_description" [URDF_LOAD_ATTRIBUTE] />

<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
respawn="false" output="screen" />

<include file="$(find [GENERATED_PACKAGE_NAME])/launch/ros_controllers.launch"/>

</launch>