HiepLM/mir_amr
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HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
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18
mir_robot/mir_description/launch/mir_debug_urdf.launch Executable file
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<?xml version="1.0" ?>
<launch>
<arg name="mir_type" default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
<arg name="gui" default="true" />
<!-- load MiR URDF -->
<include file="$(find mir_description)/launch/upload_mir_urdf.launch">
<arg name="mir_type" value="$(arg mir_type)" />
</include>
<node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mir_description)/rviz/mir_description.rviz" required="true" />
</launch>

7
mir_robot/mir_description/launch/upload_mir_urdf.launch Executable file
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<?xml version="1.0" ?>
<launch>
<arg name="mir_type" default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
<arg name="tf_prefix" default="" doc="TF prefix to use for all of the MiR's TF frames"/>
<param name="robot_description" command="$(find xacro)/xacro $(find mir_description)/urdf/mir.urdf.xacro mir_type:=$(arg mir_type) tf_prefix:=$(arg tf_prefix)" />
</launch>