+<?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>