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Transférer les fichiers vers 'Projet/pioneer_gazebo_ros/pioneer_gazebo/launch'

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Hadrien 2020-06-27 10:31:20 +02:00
parent d0d2b2c6a8
commit 4c0a4d166b
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Projet/pioneer_gazebo_ros/pioneer_gazebo/launch/frontier_exploration_world.launch Normal file
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<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="model" default="$(find pioneer_description)/urdf/pioneer3dx.xacro"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find pioneer_gazebo)/worlds/closed_maze.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-x 0 -y 0 -z 0 -Y 0 -urdf -model pioneer -param robot_description"/>
<!-- ros_control pioneer launch file -->
<!--include file="$(find pioneer_control)/launch/pioneer_control.launch" /-->
</launch>