From f6ee0e36c9cc075e5f007c44e95dc3aaa7736a57 Mon Sep 17 00:00:00 2001
From: Greg Brown <gmb60@cam.ac.uk>
Date: Sun, 30 Jan 2022 23:50:36 +0000
Subject: Initial commit

---
 launch/all-robots.launch.in | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100644 launch/all-robots.launch.in

(limited to 'launch/all-robots.launch.in')

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>
-- 
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