Commit 693b94fd0e9c96ec97bd86cd2663b73ae73f6a49

Authored by Simon Thomas
1 parent ccd94888

Add new launch file for the aquanaute simulation

Showing 1 changed file with 59 additions and 0 deletions   Show diff stats
aquanaute_gazebo/launch/world.launch 0 → 100644
... ... @@ -0,0 +1,59 @@
  1 +<?xml version="1.0"?>
  2 +<launch>
  3 + <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
  4 + <!-- Gazebo world to load -->
  5 + <arg name="world" default="$(find vrx_gazebo)/worlds/ocean.world" />
  6 + <!-- If true, run gazebo GUI -->
  7 + <arg name="gui" default="true" />
  8 + <!-- If true, run gazebo in verbose mode -->
  9 + <arg name="verbose" default="true"/>
  10 + <!-- If true, start in paused state -->
  11 + <arg name="paused" default="false"/>
  12 + <!-- Set various other gazebo arguments-->
  13 + <arg name="extra_gazebo_args" default=""/>
  14 + <!-- Start in a default namespace -->
  15 + <arg name="namespace" default="aquanaute"/>
  16 +
  17 + <!-- Initial USV location and attitude-->
  18 + <arg name="x" default="0" />
  19 + <arg name="y" default="0" />
  20 + <arg name="z" default="0.1" />
  21 + <arg name="P" default="0" />
  22 + <arg name="R" default="0" />
  23 + <arg name="Y" default="0" />
  24 +
  25 + <env name="VRX_DEBUG" value="true"/>
  26 +
  27 + <!-- Allow user specified thruster configurations
  28 + H = stern trusters on each hull
  29 + T = H with a lateral thruster
  30 + X = "holonomic" configuration -->
  31 + <arg name="thrust_config" default="H" />
  32 +
  33 + <!-- Do you want to enable sensors? -->
  34 + <arg name="camera_enabled" default="false" />
  35 + <arg name="gps_enabled" default="false" />
  36 + <arg name="imu_enabled" default="false" />
  37 + <arg name="lidar_enabled" default="false" />
  38 + <arg name="ground_truth_enabled" default="false" />
  39 +
  40 + <!-- Start Gazebo with the world file -->
  41 + <include file="$(find gazebo_ros)/launch/empty_world.launch">
  42 + <arg name="world_name" value="$(arg world)"/>
  43 + <arg name="verbose" value="$(arg verbose)"/>
  44 + <arg name="paused" value="$(arg paused)"/>
  45 + <arg name="use_sim_time" value="true"/>
  46 + <arg name="gui" value="$(arg gui)" />
  47 + <arg name="enable_ros_network" value="true"/>
  48 + <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
  49 + </include>
  50 +
  51 + <!-- Load robot model -->
  52 + <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
  53 + <param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro '$(arg urdf)'"/>
  54 +
  55 + <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
  56 + <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x) -y $(arg y) -z $(arg z)
  57 + -R $(arg R) -P $(arg P) -Y $(arg Y)
  58 + -urdf -param $(arg namespace)/robot_description -model aquanaute"/>
  59 +</launch>
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