Blame view

aquanaute_gazebo/launch/world.launch 2.58 KB
693b94fd   Simon Thomas   Add new launch fi...
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
  <?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="$(arg gui)" />
50e8c737   Simon Thomas   Arguments not needed
47
              <!--arg name="enable_ros_network" value="true"/-->
693b94fd   Simon Thomas   Add new launch fi...
48
49
50
51
52
53
54
55
56
57
58
59
              <arg name="extra_gazebo_args" value="$(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>