27 lines
952 B
XML
Executable File
27 lines
952 B
XML
Executable File
<?xml version="1.0"?>
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<launch>
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<!-- start world -->
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<include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
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<!-- load robot -->
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<param name="robot_description"
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command="$(find xacro)/xacro '$(find diff_drive_controller)/test/skidsteerbot.xacro'" />
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<!-- Start skidsteerbot -->
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<node name="skidsteerbot"
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pkg="diff_drive_controller"
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type="skidsteerbot"/>
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<!-- Load controller config -->
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<rosparam command="load" file="$(find diff_drive_controller)/test/skidsteerbot_controllers.yaml" />
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<!-- Spawn controller -->
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<node name="controller_spawner"
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pkg="controller_manager" type="spawner" output="screen"
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args="skidsteerbot_controller" />
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<!-- push robot_description to factory and spawn robot in gazebo -->
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<node name="spawn_single_link" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model skidsteerbot -z 0.5" respawn="false" output="screen" />
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</launch>
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