Add new launch file for the aquanaute simulation

Simon Thomas
1 parent ccd94888
Showing 1 changed file with 59 additions and 0 deletions Show diff stats
aquanaute_gazebo/launch/world.launch
@@ -0,0 +1,59 @@
+<?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>