sandisland.launch 2.09 KB
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<?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/ocean.world" />
  <!-- If true, run gazebo GUI -->
  <arg name="gui" default="true" />
  <!-- If true, run gazebo in verbose mode -->
  <arg name="verbose" default="false"/>
  <!-- If true, start in paused state -->
  <arg name="paused"  default="false"/>
  <!-- Set various other gazebo arguments-->
  <arg name="extra_gazebo_args" default=""/>
  <!-- Start in a default namespace -->
  <arg name="namespace" default="aquanaute"/>

  <!-- Initial USV location and attitude-->
  <arg name="x" default="0" />
  <arg name="y" default="0" />
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  <arg name="z" default="2" />
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  <arg name="P" default="0" />
  <arg name="R" default="0" />
  <arg name="Y" default="0" />

  <!-- If true, show non-competition ROS topics (/gazebo/model_states, /vrx/debug/wind/direction, etc.)-->
  <arg name="enable_ros_network" value="true"/>
  <env name="VRX_DEBUG" value="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="$(arg verbose)"/>
    <arg name="paused"       value="$(arg paused)"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui"          value="$(arg gui)" />
    <arg name="enable_ros_network" value="$(arg enable_ros_network)"/>
    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
  </include>

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<!-- Load robot model -->
 <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
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  <param name="$(arg namespace)/robot_description"
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         command="$(find xacro)/xacro '$(arg urdf)'"/>
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  <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
  <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 aquanaute"/>
</launch>