forked from xtdrone/XTDrone
28 lines
1.1 KiB
XML
28 lines
1.1 KiB
XML
<?xml version="1.0"?>
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<!-- Generate wamv given custom configurations. Used by vrx-docker for
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competition evaluation -->
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<launch>
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<arg name="namespace" value="wamv_config"/>
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<group ns="$(arg namespace)">
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<arg name="sensor_yaml" default="$(find vrx_gazebo)/src/vrx_gazebo_python/generator_scripts/wamv_config/example_sensor_config.yaml"/>
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<param name="sensor_yaml" value="$(arg sensor_yaml)"/>
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<arg name="thruster_yaml" default="$(find vrx_gazebo)/src/vrx_gazebo_python/generator_scripts/wamv_config/example_thruster_config.yaml"/>
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<param name="thruster_yaml" value="$(arg thruster_yaml)"/>
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<arg name="wamv_target"/>
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<param name="wamv_target" value="$(arg wamv_target)"/>
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<param name="wamv_gazebo" value="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/>
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<param name="sensors_dir" value="$(find wamv_gazebo)/urdf/sensors"/>
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<param name="thrusters_dir" value="$(find wamv_description)/urdf/thrusters"/>
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<node name="wamv_generator" pkg="vrx_gazebo" type="generate_wamv" output="screen" required="true"/>
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</group>
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</launch>
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