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<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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