17 lines
770 B
XML
17 lines
770 B
XML
<launch>
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<let name="urdf_path" value="$(find-pkg-share my_robot1_description)/urdf/my_robot1.urdf.xacro"/>
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<let name="rviz_config_path" value="$(find-pkg-share my_robot1_bringup)/rviz/urdf_config.rviz"/>
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<node pkg="robot_state_publisher" exec="robot_state_publisher">
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<param name="robot_description" value="$(command 'xacro $(var urdf_path)')"/>
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</node>
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<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
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<arg name="world" value="$(find-pkg-share my_robot1_bringup)/worlds/test_world.world.xml"/>
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</include>
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<node pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity my_robot1"/>
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<node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_config_path)" />
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</launch> |