HiepLM/mir_amr
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

git commit -m "first commit"

Browse Source
This commit is contained in:
HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
mir_robot/diff_drive_controller/test/view_diffbot.launch Executable file
View File

@@ -0,0 +1,26 @@
<?xml version="1.0"?>
<launch>
<!-- start world -->
<include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
<!-- load robot -->
<param name="robot_description"
command="$(find xacro)/xacro '$(find diff_drive_controller)/test/diffbot.xacro'" />
<!-- Start diffbot -->
<node name="diffbot"
pkg="diff_drive_controller"
type="diffbot"/>
<!-- Load controller config -->
<rosparam command="load" file="$(find diff_drive_controller)/test/diffbot_controllers.yaml" />
<!-- Spawn controller -->
<node name="controller_spawner"
pkg="controller_manager" type="spawner" output="screen"
args="diffbot_controller" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_single_link" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model diffbot -z 0.5" respawn="false" output="screen" />
</launch>