unitree_ros/robots/go2_description/launch/go2_rviz.launch

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XML

<launch>
<arg name="user_debug" default="false"/>
<param name="robot_description" textfile="$(find go2_description)/urdf/go2_description.urdf" />
<!-- for higher robot_state_publisher average rate-->
<!-- <param name="rate" value="1000"/> -->
<!-- send fake joint values -->
<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui">
<param name="use_gui" value="TRUE"/>
</node>
<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 go2_description)/launch/check_joint.rviz"/>
</launch>