83 lines
3.3 KiB
XML
Executable File
83 lines
3.3 KiB
XML
Executable File
<launch>
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<arg name="wname" default="earth"/>
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<arg name="rname" default="g1"/>
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<arg name="robot_path" value="(find $(arg rname)_description)"/>
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<arg name="dollar" value="$"/>
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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="true"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
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<arg name="debug" value="$(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="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
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DEBUG:=$(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 $(arg rname)_gazebo -param robot_description -unpause"/>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
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<!-- load the controllers -->
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<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
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output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
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torso_controller
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left_hip_pitch_controller
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left_hip_roll_controller
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left_hip_yaw_controller
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left_knee_controller
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left_ankle_pitch_controller
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left_ankle_roll_controller
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right_hip_pitch_controller
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right_hip_roll_controller
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right_hip_yaw_controller
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right_knee_controller
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right_ankle_pitch_controller
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right_ankle_roll_controller
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left_shoulder_pitch_controller
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left_shoulder_roll_controller
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left_shoulder_yaw_controller
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left_elbow_pitch_controller
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left_elbow_roll_controller
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right_shoulder_pitch_controller
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right_shoulder_roll_controller
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right_shoulder_yaw_controller
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right_elbow_pitch_controller
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right_elbow_roll_controller
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"/>
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<!-- convert joint states to TF transforms for rviz, etc -->
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
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respawn="false" output="screen">
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<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
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</node>
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<!-- <node pkg="unitree_gazebo" type="servo" name="servo" required="true" output="screen"/> -->
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<!-- load the parameter unitree_controller -->
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<include file="$(find unitree_controller)/launch/set_ctrl.launch">
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<arg name="rname" value="$(arg rname)"/>
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</include>
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</launch>
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