Binit Shah
2 years ago
1 changed files with 0 additions and 63 deletions
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stretch_gazebo/launch/random_objects.launch
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| <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="rviz" default="false"/> | |||
| <arg name="model" default="$(find stretch_gazebo)/urdf/stretch_gazebo.urdf.xacro"/> | |||
| <arg name="image_topic" default="/realsense/color/image_raw"/> | |||
| <!--- Spawn the Stretch robot in the random_objects world file.--> | |||
| <include file="$(find gazebo_ros)/launch/empty_world.launch"> | |||
| <arg name="debug" value="$(arg debug)" /> | |||
| <arg name="gui" value="$(arg gui)" /> | |||
| <arg name="paused" value="$(arg paused)"/> | |||
| <arg name="use_sim_time" value="$(arg use_sim_time)"/> | |||
| <arg name="headless" value="$(arg headless)"/> | |||
| <arg name="verbose" value="true"/> | |||
| <arg name="world_name" value="$(find stretch_gazebo)/worlds/random_objects.world"/> | |||
| </include> | |||
| <!--- Run upright_camera_view.launch file --> | |||
| <!-- <include file="$(find stretch_gazebo)/launch/upright_camera_view.launch"> | |||
| <arg name="image_topic" value="$(arg image_topic)"/> | |||
| </include> --> | |||
| <param name="robot_description" command="$(find xacro)/xacro $(arg model)" /> | |||
| <!-- push robot_description to factory and spawn robot in gazebo --> | |||
| <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" | |||
| args=" -urdf -model robot -param robot_description" respawn="false" output="screen" /> | |||
| <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"> | |||
| <param name="publish_frequency" type="double" value="30.0" /> | |||
| </node> | |||
| <!--- Run rviz node. Requires argument to run--> | |||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/> | |||
| <rosparam command="load" | |||
| file="$(find stretch_gazebo)/config/joints.yaml" | |||
| ns="stretch_joint_state_controller" /> | |||
| <rosparam command="load" | |||
| file="$(find stretch_gazebo)/config/drive_config.yaml" | |||
| ns="stretch_diff_drive_controller" /> | |||
| <rosparam command="load" | |||
| file="$(find stretch_gazebo)/config/arm.yaml"/> | |||
| <rosparam command="load" | |||
| file="$(find stretch_gazebo)/config/head.yaml" /> | |||
| <rosparam command="load" | |||
| file="$(find stretch_gazebo)/config/gripper.yaml" /> | |||
| <node name="stretch_controller_spawner" pkg="controller_manager" type="spawner" | |||
| args="stretch_joint_state_controller stretch_diff_drive_controller stretch_arm_controller stretch_head_controller stretch_gripper_controller"/> | |||
| <node name="publish_ground_truth_odom" pkg="stretch_gazebo" type="publish_ground_truth_odom.py" output="screen"/> | |||
| </launch> | |||