revert www changes from last commit
[ros_wild_thumper.git] / 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>