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/one-robot.launch | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 launch/one-robot.launch

(limited to 'launch/one-robot.launch')

diff --git a/launch/one-robot.launch b/launch/one-robot.launch
new file mode 100644
index 0000000..74ed60c
--- /dev/null
+++ b/launch/one-robot.launch
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="robot_name"/>
+  <arg name="x_pos"/>
+  <arg name="y_pos"/>
+  <arg name="z_pos"/>
+
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model $(arg robot_name) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param /robot_description" />
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0" />
+  </node>
+</launch>
-- 
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