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23 lines
992 B
23 lines
992 B
<?xml version="1.0"?>
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<launch>
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<arg name="paused" default="false"/>
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<arg name="gazebo_gui" default="true"/>
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<arg name="urdf_path" default="$(find stretch_description)/urdf/stretch_description.xacro"/>
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<!-- startup simulated world -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" default="worlds/empty.world"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="gui" value="$(arg gazebo_gui)"/>
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</include>
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<!-- send robot urdf to param server -->
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<param name="robot_description" textfile="$(arg urdf_path)" />
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<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
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<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
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respawn="false" output="screen" />
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<include file="$(find stretch_moveit_config)/launch/ros_controllers.launch"/>
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</launch>
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