Added display_urdf launch file

[wt_open_manipulator.git] / launch / display_urdf.launch

diff --git a/launch/display_urdf.launch b/launch/display_urdf.launch
new file mode 100644 (file)
index 0000000..3520220
--- /dev/null
+++ b/launch/display_urdf.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+
+       <arg name="model" default="$(find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro"/>
+       <arg name="gui" default="true" />
+
+       <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
+       <param name="use_gui" value="$(arg gui)"/>
+
+       <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+               <param name="use_gui" value="$(arg gui)"/>
+       </node>
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+       <node name="rviz" pkg="rviz" type="rviz" required="true" />
+</launch>