From: Erik Andresen <erik@vontaene.de>
Date: Sat, 14 Aug 2021 14:57:43 +0000 (+0200)
Subject: Added display_urdf launch file
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=1a87bf02cc685529f6cfc0b4b4946ff1e495fedc;p=wt_open_manipulator.git

Added display_urdf launch file
---

diff --git a/launch/display_urdf.launch b/launch/display_urdf.launch
new file mode 100644
index 0000000..3520220
--- /dev/null
+++ b/launch/display_urdf.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+
+	<arg name="model" default="$(find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro"/>
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
+	<param name="use_gui" value="$(arg gui)"/>
+
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+		<param name="use_gui" value="$(arg gui)"/>
+	</node>
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="rviz" pkg="rviz" type="rviz" required="true" />
+</launch>