forked from xtdrone/XTDrone
60 lines
2.3 KiB
XML
60 lines
2.3 KiB
XML
<?xml version="1.0"?>
|
|
<launch>
|
|
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
|
|
<!-- Gazebo world to load -->
|
|
<arg name="world" default="$(find vrx_gazebo)/worlds/wayfinding_task.world" />
|
|
<!-- If true, run gazebo GUI -->
|
|
<arg name="gui" default="true" />
|
|
<!-- If true, run gazebo in verbose mode -->
|
|
<arg name="verbose" default="true"/>
|
|
<!-- Set various other gazebo arguments-->
|
|
<arg name="extra_gazebo_args" default=""/>
|
|
<!-- Start in a default namespace -->
|
|
<arg name="namespace" default="wamv"/>
|
|
|
|
<!-- Initial USV location and attitude-->
|
|
<arg name="x" default="158" />
|
|
<arg name="y" default="108" />
|
|
<arg name="z" default="0.1" />
|
|
<arg name="P" default="0" />
|
|
<arg name="R" default="0" />
|
|
<arg name="Y" default="-2.76" />
|
|
|
|
<!-- Allow user specified thruster configurations
|
|
H = stern trusters on each hull
|
|
T = H with a lateral thruster
|
|
X = "holonomic" configuration -->
|
|
<arg name="thrust_config" default="T" />
|
|
|
|
<!-- Do we lock the vessel to the world? -->
|
|
<arg name="wamv_locked" default="true" />
|
|
|
|
<!-- Do we load the VRX sensor suite? -->
|
|
<arg name="vrx_sensors_enabled" default="true" />
|
|
|
|
<!-- Start Gazebo with the world file -->
|
|
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
|
<arg name="world_name" value="$(arg world)"/>
|
|
<arg name="verbose" value="$(arg verbose)"/>
|
|
<arg name="paused" value="false"/>
|
|
<arg name="use_sim_time" value="true"/>
|
|
<arg name="gui" value="$(arg gui)" />
|
|
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
|
|
</include>
|
|
|
|
<!-- Load robot model -->
|
|
<arg name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/>
|
|
<param name="$(arg namespace)/robot_description"
|
|
command="$(find xacro)/xacro --inorder '$(arg urdf)'
|
|
locked:=$(arg wamv_locked)
|
|
thruster_config:=$(arg thrust_config)
|
|
vrx_sensors_enabled:=$(arg vrx_sensors_enabled)
|
|
namespace:=$(arg namespace) "/>
|
|
|
|
<!-- Spawn model in Gazebo -->
|
|
<node name="spawn_model" pkg="gazebo_ros" type="spawn_model"
|
|
args="-x $(arg x) -y $(arg y) -z $(arg z)
|
|
-R $(arg R) -P $(arg P) -Y $(arg Y)
|
|
-urdf -param $(arg namespace)/robot_description -model wamv "/>
|
|
</launch>
|