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moved urdf model import to param server to publisher.launch.

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1 parent 9688d14 commit 79e44b6b9c1a7c83ee4c7e847a8d25e9b3dca64f @zakharov zakharov committed Nov 8, 2011
@@ -1,12 +1,14 @@
<?xml version="1.0"?>
<launch>
-
<!-- start gazebo -->
<param name="/use_sim_time" value="true" />
<node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen">
<env name="GAZEBO_RESOURCE_PATH" value="$(find youbot_description):$(find gazebo_worlds):$(find gazebo)/gazebo/share/gazebo" />
</node>
+ <!-- send youbot urdf to param server -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot_arm.urdf.xacro'"/>
+
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="youbot_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model youBot -x 0.4 -y 2 -z 0.05" respawn="false" output="screen" />
@@ -7,6 +7,9 @@
<env name="GAZEBO_RESOURCE_PATH" value="$(find youbot_description):$(find gazebo_worlds):$(find gazebo)/gazebo/share/gazebo" />
</node>
+ <!-- send youbot urdf to param server -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot_arm.urdf.xacro'"/>
+
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="youbot_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model youBot -x 0.4 -y 2 -z 0.05" respawn="false" output="screen" />
@@ -12,6 +12,10 @@
<remap from="/base_odometry/odom" to="/odom" />
</node>
+
+ <!-- send youbot urdf to param server -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot_base.urdf.xacro'"/>
+
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="youbot_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model youBot -x 0 -y 0 -z 0.3" respawn="false" output="screen" />
@@ -12,6 +12,9 @@
<remap from="/base_odometry/odom" to="/odom" />
</node>
+ <!-- send youbot urdf to param server -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot_base.urdf.xacro'"/>
+
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="youbot_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model youBot -x 0 -y 0 -z 0.3" respawn="false" output="screen" />
@@ -6,6 +6,6 @@
<!--<remap from="joint_states" to="youbot_state"/>-->
<!-- start robot_state_publisher -->
- <node pkg="robot_state_publisher" type="state_publisher" name="rob_st_pub" />
+ <!-- <node pkg="robot_state_publisher" type="state_publisher" name="rob_st_pub" />-->
</launch>
@@ -17,6 +17,9 @@
</node>
+ <!-- send youbot urdf to param server -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot.urdf.xacro'"/>
+
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="youbot_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model youBot -x 0.0 -y 0.0 -z 0.1" respawn="false" output="screen" />
@@ -17,6 +17,9 @@
</node>
+ <!-- send youbot urdf to param server -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot.urdf.xacro'"/>
+
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="youbot_gazebo_model" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model youBot -x 0.0 -y 0.0 -z 0.1" respawn="false" output="screen" />

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