added gazebo simulation

[ros_wild_thumper.git] / launch / model.launch

diff --git a/launch/model.launch b/launch/model.launch
new file mode 100644 (file)
index 0000000..8e4079b
--- /dev/null
+++ b/launch/model.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+       <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" />
+</launch>