25 lines
930 B
Plaintext
25 lines
930 B
Plaintext
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<launch>
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<!-- <arg name="user_debug" default="false"/> -->
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<arg name="UnitreeGripperYN" default="true"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find z1_description)/xacro/robot.xacro'
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UnitreeGripper:=$(arg UnitreeGripperYN)"/>
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<!-- for higher robot_state_publisher average rate-->
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<!-- <param name="rate" value="1000"/> -->
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<!-- send fake joint values -->
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<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui">
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<param name="use_gui" value="TRUE"/>
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</node>
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
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<param name="publish_frequency" type="double" value="1000.0"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
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args="-d $(find z1_description)/launch/setting.rviz"/>
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</launch>
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