21 lines
962 B
XML
Executable File
21 lines
962 B
XML
Executable File
<?xml version="1.0" ?>
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<launch>
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<arg name="robot_type" default="demo" doc="" />
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<arg name="tf_prefix" default="" doc="tf_prefix to be used by gazebo plugins and in the robot's urdf etc." />
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<arg name="gui" default="false" />
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<!-- load cititruck URDF -->
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<include file="$(find cititruck_description)/launch/upload_cititruck_urdf.launch">
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<arg name="tf_prefix" value="$(arg tf_prefix)" />
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<arg name="robot_type" value="$(arg robot_type)" />
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</include>
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<node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
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<node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find cititruck_description)/rviz/cititruck_description.rviz" required="true" />
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</launch>
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