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| author | Greg Brown <gmb60@cam.ac.uk> | 2022-01-30 23:50:36 +0000 |
|---|---|---|
| committer | Greg Brown <gmb60@cam.ac.uk> | 2022-01-30 23:51:00 +0000 |
| commit | f6ee0e36c9cc075e5f007c44e95dc3aaa7736a57 (patch) | |
| tree | 0fb6437bf04884ca7da38299d30b37ad6f9b4ee3 /launch/all-robots.launch.in | |
Initial commit
Diffstat (limited to 'launch/all-robots.launch.in')
| -rw-r--r-- | launch/all-robots.launch.in | 22 |
1 files changed, 22 insertions, 0 deletions
diff --git a/launch/all-robots.launch.in b/launch/all-robots.launch.in new file mode 100644 index 0000000..d98782a --- /dev/null +++ b/launch/all-robots.launch.in @@ -0,0 +1,22 @@ +<launch> + <!-- + Default GUI to true for local Gazebo client. Allows override + to set disable GUI for RoboMaker. See part0.launch. + --> + <arg name="use_gui" default="true"/> + <arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/> + <arg name="world" default="simple" doc="world [simple]"/> + + <include file="$(find gazebo_ros)/launch/empty_world.launch"> + <arg name="world_name" value="$(find murl)/worlds/$(arg world).world"/> + <arg name="paused" value="true"/> + <arg name="use_sim_time" value="true"/> + <arg name="gui" value="$(arg use_gui)"/> + <arg name="headless" value="false"/> + <arg name="debug" value="false"/> + </include> + + <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> + + <!-- INCLUDE ROBOTS --> +</launch> |