26 lines
966 B
XML
26 lines
966 B
XML
<launch>
|
|
|
|
<arg name="user_debug" default="false"/>
|
|
|
|
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find b1_description)/xacro/robot.xacro'
|
|
DEBUG:=$(arg user_debug)"/>
|
|
|
|
<!-- for higher robot_state_publisher average rate-->
|
|
<!-- <param name="rate" value="1000"/> -->
|
|
|
|
<!-- send fake joint values -->
|
|
<!--<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
|
|
<param name="use_gui" value="TRUE"/>
|
|
</node>-->
|
|
|
|
<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher"/>
|
|
|
|
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
|
|
<param name="publish_frequency" type="double" value="1000.0"/>
|
|
</node>
|
|
|
|
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
|
|
args="-d $(find b1_description)/launch/check_joint.rviz"/>
|
|
|
|
</launch>
|