Commit 693b94fd authored by Simon Thomas's avatar Simon Thomas
Browse files

Add new launch file for the aquanaute simulation

parent ccd94888
<?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="true"/>
<!-- 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" />
<arg name="z" default="0.1" />
<arg name="P" default="0" />
<arg name="R" default="0" />
<arg name="Y" default="0" />
<env name="VRX_DEBUG" value="true"/>
<!-- 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="H" />
<!-- Do you want to enable sensors? -->
<arg name="camera_enabled" default="false" />
<arg name="gps_enabled" default="false" />
<arg name="imu_enabled" default="false" />
<arg name="lidar_enabled" default="false" />
<arg name="ground_truth_enabled" default="false" />
<!-- 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="$(arg gui)" />
<arg name="enable_ros_network" value="true"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include>
<!-- Load robot model -->
<arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
<param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro '$(arg urdf)'"/>
<!-- 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>
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