18 lines
932 B
XML
18 lines
932 B
XML
<launch>
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<arg name="gui" default="true" />
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<arg name="robot_type" default="imr" doc="Can be 'hook_150' or 'imr' for now." />
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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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<include file="$(find amr_startup)/launch/robot_empty_world.launch">
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<arg name='world_name' value="$(find factory_ss_demo)/worlds/factory_ss_demo.world"/>
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<arg name="robot_x" value="5.5"/>
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<arg name="robot_y" value="34.5"/>
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<arg name="robot_yaw" value="0.0"/>
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<arg name="gui" value="$(arg gui)" />
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<arg name="robot_type" value="$(arg robot_type)" />
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<arg name="tf_prefix" value="$(arg tf_prefix)" />
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</include>
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<include file="$(find amr_startup)/launch/includes/spawn_trolley.launch"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find amr_startup)/rviz/navigation.rviz" required="false" />
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</launch> |