launch/gazebo.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <include file="$(find gazebo_ros)/launch/empty_world.launch" >
   4                 <arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />
   5                 <arg name="gui" value="false" />
   6         </include>
   7
   8         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
   9
  10         <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
  11
  12         <!-- Spawn a robot into Gazebo -->
  13         <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" output="screen" />
  14
  15         <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
  16                 <remap from="/image" to="/camera/depth/image_raw"/>
  17         </node>
  18 </launch>