From 18e4655d32540d03d23a22f86074eb69be91dd76 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 4 Dec 2018 16:06:26 +0100
Subject: [PATCH] Added a launch file to simulate the robot on top of a
 platform with 2 degrees of freedom.

---
 darwin_apps/launch/darwin_eq.launch | 14 ++++++++++++++
 darwin_gazebo/launch/darwin.launch  |  2 +-
 2 files changed, 15 insertions(+), 1 deletion(-)
 create mode 100644 darwin_apps/launch/darwin_eq.launch

diff --git a/darwin_apps/launch/darwin_eq.launch b/darwin_apps/launch/darwin_eq.launch
new file mode 100644
index 0000000..cd7f5b4
--- /dev/null
+++ b/darwin_apps/launch/darwin_eq.launch
@@ -0,0 +1,14 @@
+<launch>
+
+  <arg name="robot" default="darwin_cpp" />
+
+  <include file="$(find darwin_description)/launch/darwin_sim.launch">
+    <arg name="robot" value="$(arg robot)" />
+  </include>
+
+  <group ns="platform">
+    <include file="$(find eq_platform_description)/launch/eq_platform.launch">
+    </include>
+  </group> 
+ 
+</launch>
diff --git a/darwin_gazebo/launch/darwin.launch b/darwin_gazebo/launch/darwin.launch
index b4ab0e6..8857a5c 100644
--- a/darwin_gazebo/launch/darwin.launch
+++ b/darwin_gazebo/launch/darwin.launch
@@ -14,7 +14,7 @@
   </include>
 
   <!-- Spawn a robot into Gazebo -->
-  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model darwin -x 0 -y 0 -z 0.4 -R 1.6 -P 0 -Y 0" />
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model darwin -x 0 -y 0 -z 0.49 -R 1.6 -P 0 -Y 0" />
   
 </launch>
 
-- 
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