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world.launch
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world.launch
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Send urdf to param server -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mapping_bot)/urdf/my_robot.xacro'"/>
<!-- Robot pose -->
<arg name="x" default="0.5"/>
<arg name="y" default="6"/>
<arg name="z" default="0"/>
<arg name="roll" default="0"/>
<arg name="pitch" default="0"/>
<arg name="yaw" default="-1.5707"/>
<!-- Launch other relevant files-->
<include file="$(find mapping_bot)/launch/robot_description.launch"/>
<!-- World File -->
<arg name="world_file" default="$(find mapping_bot)/worlds/my_world.world"/>
<!-- Launch Gazebo World -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="use_sim_time" value="true"/>
<arg name="debug" value="false"/>
<arg name="gui" value="true"/>
<arg name="paused" value="false"/>
<arg name="world_name" value="$(arg world_file)"/>
</include>
<!-- Spawn My Robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -param robot_description -model my_robot
-x $(arg x) -y $(arg y) -z $(arg z)
-R $(arg roll) -P $(arg pitch) -Y $(arg yaw)"/>
<!-- Launch RViz -->
<!--<node name="rviz" pkg="rviz" type="rviz" respawn="false" args="-d $(find mapping_bot)/launch/config.rviz"/>-->
</launch>