view_model.launch 832 Bytes
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
<?xml version="1.0"?>
<launch>

  <arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED false)"/>
  <arg name="kinect_enabled" default="false"/>

  <!-- Standalone launcher to visualize the robot model. -->
  <include file="$(find husky_description)/launch/description.launch">
    <arg name="laser_enabled" value="$(arg laser_enabled)"/>
    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
  </include>

13
14
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
15
16
17

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find husky_viz)/rviz/model.rviz" />

18
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
19
</launch>