25 lines
1.1 KiB
XML
25 lines
1.1 KiB
XML
<launch>
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<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
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<!-- start up wg world -->
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<include file="$(find gazebo_worlds)/launch/wg_world.launch"/>
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<!-- Create a transform sender for linking these frames. -->
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<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />
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<arg name="model" />
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<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
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<!-- push robot_description to factory and spawn robot in gazebo -->
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<node name="spawn_erratic" pkg="gazebo_tools" type="gazebo_model" args="-z 1.051 -p robot_description spawn robot_description" respawn="false" output="screen" />
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<!-- Controller Manager -->
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<include file="$(find pr2_controller_manager)/controller_manager.launch" />
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<!-- Fake Calibration -->
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<node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
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<!-- load controllers -->
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<node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/>
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</launch>
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