added gazebo simulation

[ros_wild_thumper.git] / launch / gazebo.launch

diff --git a/launch/gazebo.launch b/launch/gazebo.launch
new file mode 100644 (file)
index 0000000..219529a
--- /dev/null
+++ b/launch/gazebo.launch
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<launch>
+       <include file="$(find gazebo_ros)/launch/empty_world.launch" >
+               <arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />
+               <arg name="gui" value="false" />
+       </include>
+
+       <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+
+       <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
+
+       <!-- Spawn a robot into Gazebo -->
+       <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" output="screen" />
+
+       <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
+               <remap from="/image" to="/camera/depth/image_raw"/>
+        </node>
+</launch>