Created
July 16, 2017 22:33
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<?xml version="1.0" ?> | |
<launch> | |
<arg name="paused" default="false"/> | |
<arg name="use_sim_time" default="true"/> | |
<arg name="gui" default="true"/> | |
<arg name="headless" default="false"/> | |
<arg name="debug" default="false"/> | |
<arg name="verbose" default="false"/> | |
<arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable --> | |
<!-- Start gazebo and load the world --> | |
<include file="$(find gazebo_ros)/launch/empty_world.launch" > | |
<arg name="paused" value="$(arg paused)"/> | |
<arg name="use_sim_time" value="$(arg use_sim_time)"/> | |
<arg name="gui" value="$(arg gui)"/> | |
<arg name="headless" value="$(arg headless)"/> | |
<arg name="debug" value="$(arg debug)"/> | |
<arg name="verbose" value="$(arg verbose)"/> | |
<arg name="world_name" value="$(arg world_name)"/> | |
</include> | |
<!-- Spawn the Base --> | |
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mavs_description)/urdf/base.urdf.xacro'" /> | |
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-param /robot_description -urdf -model base_example"/> | |
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"> | |
<param name="publish_frequency" type="double" value="30.0" /> | |
</node> | |
</launch> |
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