19 lines
817 B
XML
Executable File
19 lines
817 B
XML
Executable File
<?xml version="1.0" ?>
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<launch>
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<arg name="mir_type" default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
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<arg name="gui" default="true" />
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<!-- load MiR URDF -->
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<include file="$(find mir_description)/launch/upload_mir_urdf.launch">
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<arg name="mir_type" value="$(arg mir_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 mir_description)/rviz/mir_description.rviz" required="true" />
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</launch>
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