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git commit -m "first commit"

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HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
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26
mir_robot/diff_drive_controller/test/view_skidsteerbot.launch Executable file
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<?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 '$(find diff_drive_controller)/test/skidsteerbot.xacro'" />
<!-- Start skidsteerbot -->
<node name="skidsteerbot"
pkg="diff_drive_controller"
type="skidsteerbot"/>
<!-- Load controller config -->
<rosparam command="load" file="$(find diff_drive_controller)/test/skidsteerbot_controllers.yaml" />
<!-- Spawn controller -->
<node name="controller_spawner"
pkg="controller_manager" type="spawner" output="screen"
args="skidsteerbot_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 skidsteerbot -z 0.5" respawn="false" output="screen" />
</launch>