43 lines
2.0 KiB
XML
43 lines
2.0 KiB
XML
<launch>
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<arg name="paused" default="true"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<arg name="user_debug" default="false"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find unitree_worlds)/earth.world"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find laikago_description)/xacro/robot.xacro'
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DEBUG:=$(arg user_debug)"/>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<!-- Set trunk and joint positions at startup -->
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<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
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args="-urdf -z 0.6 -model laikago_gazebo -param robot_description -unpause"/>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find laikago_description)/config/robot_control.yaml" command="load"/>
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<!-- load the controllers -->
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<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
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output="screen" ns="/laikago_gazebo" args="joint_state_controller
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FL_hip_controller FL_thigh_controller FL_calf_controller
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FR_hip_controller FR_thigh_controller FR_calf_controller
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RL_hip_controller RL_thigh_controller RL_calf_controller
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RR_hip_controller RR_thigh_controller RR_calf_controller "/>
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</launch>
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