launch/gazebo.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="use_imu" default="true"/>
   4
   5         <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
   6
   7         <!-- Load joint controller configurations from YAML file to parameter server -->
   8         <rosparam file="$(find wild_thumper)/config/control.yaml" command="load" />
   9         <rosparam param="/diff_drive_controller/enable_odom_tf" unless="$(arg use_imu)">true</rosparam>
  10
  11         <include file="$(find gazebo_ros)/launch/empty_world.launch" >
  12                 <arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />
  13                 <arg name="gui" value="false" />
  14         </include>
  15
  16         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
  17
  18         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
  19
  20         <!-- Spawn a robot into Gazebo -->
  21         <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" output="screen" />
  22
  23         <!-- load the controllers -->
  24         <node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" ns="/" args="joint_state_controller diff_drive_controller"/>
  25
  26         <node name="relay_cmd_vel" pkg="topic_tools" type="relay" output="screen" args="/cmd_vel_out /diff_drive_controller/cmd_vel" />
  27         <node name="relay_odom" pkg="topic_tools" type="relay" output="screen" args="/diff_drive_controller/odom /odom" />
  28
  29         <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
  30                 <remap from="/image" to="/camera/depth/image_raw"/>
  31         </node>
  32
  33         <node pkg="robot_localization" type="ekf_localization_node" name="ekf" clear_params="true" output="screen" if="$(arg use_imu)">
  34                 <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
  35                 <remap from="odometry/filtered" to="odom_combined"/>
  36         </node>
  37
  38         <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
  39                 <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
  40                 <arg name="nodelet_manager_name" value="nodelet_manager" />
  41         </include>
  42 </launch>