36 lines
1.7 KiB
XML
36 lines
1.7 KiB
XML
<launch>
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<!-- Configuration of Jackal which you would like to simulate.
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See jackal_description for details. -->
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<arg name="config" default="base" />
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<!-- Load Jackal's description, controllers, and teleop nodes. -->
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<!-- <include file="$(find jackal_description)/launch/description.launch">
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<arg name="config" value="$(arg config)" />
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</include> -->
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<!-- fix for oneweek project -->
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<arg name="env_runner" value="$(eval 'env_run' if not optenv('OS', 'unknown').lower().startswith('windows') else 'env_run.bat')" />
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<!-- the following seems to work too when in devel space, but not in install_isolated -->
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<!-- <arg name="env_runner" value="env_run" /> -->
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<param name="robot_description"
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command="$(find jackal_description)/scripts/$(arg env_runner)
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$(find jackal_description)/urdf/configs/$(arg config)
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$(find xacro)/xacro $(find jackal_description)/urdf/jackal.urdf.xacro
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--inorder" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- <include file="$(find jackal_control)/launch/control.launch" /> -->
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<include file="$(find me5413_world)/launch/include/control.launch" />
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<include file="$(find jackal_control)/launch/teleop.launch">
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<arg name="joystick" value="false" />
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</include>
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<!-- Spawn Jackal -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
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args="-urdf -model jackal -param robot_description -x 0 -y 0 -z 1 -R 0 -P 0 -Y 0" />
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<!-- Add a static world frame -->
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<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="world_broadcast" args="0 0 0 0 0 0 1 world odom" /> -->
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</launch>
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