62 lines
2.3 KiB
XML
62 lines
2.3 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!--
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Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
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Copyright (c) 2015 Arizona Board of Regents
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All rights reserved.
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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Summary:
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This launch file loads the worlds and models for the catvehicle
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-->
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<launch>
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="false"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<arg name="obstaclestopper" default="true"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find catvehicle)/worlds/canyonview_field.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<group ns="catvehicle">
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<param name="robot_description"
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command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle.xacro' roboname:='catvehicle'" />
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<include file="$(find catvehicle)/launch/catvehicle.launch">
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<arg name="robot_name" value="catvehicle"/>
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<arg name="init_pose" value="-x 1 -y 1 -z 0"/>
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<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
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<arg name="config_file" value="catvehicle_control.yaml"/>
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</include>
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</group>
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</launch>
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