launch/gazebo.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <arg name="use_imu" default="true"/>
   4
   5         <!-- Load joint controller configurations from YAML file to parameter server -->
   6         <rosparam file="$(find wild_thumper)/config/control.yaml" command="load" />
   7         <rosparam param="/diff_drive_controller/enable_odom_tf" unless="$(arg use_imu)">true</rosparam>
   8
   9         <include file="$(find gazebo_ros)/launch/empty_world.launch" >
  10                 <arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />
  11                 <arg name="gui" value="false" />
  12         </include>
  13
  14         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
  15
  16         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
  17
  18         <!-- Spawn a robot into Gazebo -->
  19         <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" output="screen" />
  20
  21         <!-- load the controllers -->
  22         <node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" ns="/" args="joint_state_controller diff_drive_controller"/>
  23
  24         <node name="relay_cmd_vel" pkg="topic_tools" type="relay" output="screen" args="/cmd_vel /diff_drive_controller/cmd_vel" />
  25         <node name="relay_odom" pkg="topic_tools" type="relay" output="screen" args="/diff_drive_controller/odom /odom" />
  26
  27         <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
  28                 <remap from="/image" to="/camera/depth/image_raw"/>
  29         </node>
  30
  31         <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
  32                 <remap from="imu_data" to="imu"/>
  33                 <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
  34                 <param name="output_frame" value="odom"/>
  35                 <param name="freq" value="20.0"/>
  36                 <param name="vo_used" value="false"/>
  37                 <param name="debug" value="true"/>
  38                 <param name="sensor_timeout" value="2.0"/>
  39         </node>
  40 </launch>