21 lines
920 B
XML
21 lines
920 B
XML
<?xml version="1.0" ?>
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<launch>
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<!-- The URDF model of the robot -->
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<arg name="urdfFile" />
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<!-- Publishes joint state publisher for testing. -->
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<arg name="test" default="false"/>
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<!-- Enable rviz visualization. -->
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<arg name="rviz" default="true"/>
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<!-- The rviz configuration file to load. -->
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<arg name="rvizconfig" default="$(find ocs2_mobile_manipulator_ros)/rviz/mobile_manipulator.rviz"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg urdfFile)"/>
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<param name="use_gui" value="true"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node if="$(arg test)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" output="screen" />
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</launch>
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