67 lines
2.4 KiB
XML
67 lines
2.4 KiB
XML
<!--
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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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=======
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This launch file loads the autonomous car in stationary state into the world"
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Prerequisite:
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=============
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1. Load the world
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roslaunch catvehicle catvehicle_empty.launch
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How to execute this file?
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========================
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roslaunch catvehicle catvehicle_spawn_nocmd.launch robot1:=acar_sim X:=0 Y:=0 Z:=0 roll:=0 pitch:=0 yaw:=0
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-->
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<launch>
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<!-- JMS trying to set statistics param -->
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<param name="enable_statistics" value="true" />
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<arg name="robot1" default="catvehicle"/>
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<arg name="X" default="0"/>
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<arg name="Y" default="0"/>
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<arg name="Z" default="0"/>
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<arg name="roll" default="0"/>
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<arg name="pitch" default="0"/>
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<arg name="yaw" default="0"/>
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<arg name="obstaclestopper" default="true"/>
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<group ns="$(arg robot1)">
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<param name="robot_description" command="$(find xacro)/xacro.py '$(find catvehicle)/urdf/catvehicle.xacro' roboname:='$(arg robot1)'" />
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<include file="$(find catvehicle)/launch/catvehicle.launch">
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<arg name="robot_name" value="$(arg robot1)"/>
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<arg name="init_pose" value="-x $(arg X) -y $(arg Y) -z $(arg Z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw)"/>
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<arg name="config_file" value="catvehicle_control.yaml"/>
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<arg name="obstaclestopper" value="$(arg obstaclestopper)"/>
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</include>
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</group>
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</launch>
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