forked from xtdrone/XTDrone
79 lines
3.5 KiB
XML
79 lines
3.5 KiB
XML
<?xml version="1.0"?>
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<launch>
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
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<!-- Gazebo world to load -->
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<arg name="world" default="$(find vrx_gazebo)/worlds/example_course.world" />
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<!-- If true, run gazebo GUI -->
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<arg name="gui" default="true" />
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<!-- If true, run gazebo in verbose mode -->
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<arg name="verbose" default="false"/>
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<!-- If true, start in paused state -->
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<arg name="paused" default="false"/>
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<!-- Set various other gazebo arguments-->
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<arg name="extra_gazebo_args" default=""/>
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<!-- Start in a default namespace -->
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<arg name="namespace" default="wamv"/>
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<!-- Initial USV location and attitude-->
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<arg name="x" default="158" />
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<arg name="y" default="108" />
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<arg name="z" default="0.1" />
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<arg name="P" default="0" />
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<arg name="R" default="0" />
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<arg name="Y" default="-2.76" />
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<!-- If true, show non-competition ROS topics (/gazebo/model_states, /vrx/debug/wind/direction, etc.)-->
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<arg name="non_competition_mode" default="true"/>
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<arg name="enable_ros_network" value="$(arg non_competition_mode)"/>
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<env name="VRX_DEBUG" value="$(arg non_competition_mode)"/>
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<env unless="$(arg non_competition_mode)" name="GAZEBO_MODEL_PATH" value="$(find vrx_gazebo)/models:$(find wamv_gazebo)/models:$(find wamv_description)/models:$(optenv GAZEBO_MODEL_PATH)"/>
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<!-- Allow user specified thruster configurations
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H = stern trusters on each hull
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T = H with a lateral thruster
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X = "holonomic" configuration -->
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<arg name="thrust_config" default="H" />
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<!-- Do you want to enable sensors? -->
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<arg name="camera_enabled" default="false" />
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<arg name="gps_enabled" default="false" />
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<arg name="imu_enabled" default="false" />
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<arg name="lidar_enabled" default="false" />
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<arg name="ground_truth_enabled" default="false" />
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<!-- Start Gazebo with the world file -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(arg world)"/>
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<arg name="verbose" value="$(arg verbose)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="$(arg gui)" />
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<arg name="enable_ros_network" value="$(arg enable_ros_network)"/>
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<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
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</include>
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<!-- Load robot model -->
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<arg name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/>
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<param name="$(arg namespace)/robot_description"
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command="$(find xacro)/xacro --inorder '$(arg urdf)'
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thruster_config:=$(arg thrust_config)
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camera_enabled:=$(arg camera_enabled)
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gps_enabled:=$(arg gps_enabled)
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imu_enabled:=$(arg imu_enabled)
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lidar_enabled:=$(arg lidar_enabled)
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ground_truth_enabled:=$(arg ground_truth_enabled)
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namespace:=$(arg namespace) "/>
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<!-- Spawn model in Gazebo, script depending on non_competition_mode -->
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<node name="spawn_model" pkg="gazebo_ros" type="spawn_model" if="$(arg non_competition_mode)"
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args="-x $(arg x) -y $(arg y) -z $(arg z)
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-R $(arg R) -P $(arg P) -Y $(arg Y)
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-urdf -param $(arg namespace)/robot_description -model wamv"/>
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<node name="spawn_wamv" pkg="vrx_gazebo" type="spawn_wamv.bash" unless="$(arg non_competition_mode)"
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args="-x $(arg x) -y $(arg y) -z $(arg z)
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-R $(arg R) -P $(arg P) -Y $(arg Y)
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--urdf $(arg urdf) --model wamv"/>
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</launch>
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