19 lines
685 B
Text
19 lines
685 B
Text
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<launch>
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<arg name="rviz_name" default="frontier_map"/>
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<arg name="model" default="$(find pioneer_description)/urdf/pioneer3dx.xacro"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
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<!-- send fake joint values -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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<param name="use_gui" value="FALSE"/>
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</node>
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<!-- Combine joint values -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/$(arg rviz_name).rviz"/>
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</launch>
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