Add sim_config argument to choose yaml file to load

launch/description.launch

@@ -3,13 +3,14 @@
 
   <arg name="ns"            default="ana"/>
   <arg name="model"         default="ana"/>
+  <arg name="sim_config"    default="$(find iri_ana_gazebo)/config/ana_sim_config.yaml"/>
   <arg name="state_pub"     default="true" />
   <arg name="static_wheels" default="false" />
 
   <group ns="$(arg ns)">
     
     <param name="robot_description"
-         command="$(find xacro)/xacro '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
+         command="$(find xacro)/xacro '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns) sim_config:=$(arg sim_config)" />
 
     <node if="$(arg state_pub)"
           pkg="robot_state_publisher"

urdf/ana.xacro

@@ -3,11 +3,12 @@
 <robot name="ana" xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:arg name="name" default="ana"/>
+  <xacro:arg name="sim_config" default="$(find iri_ana_gazebo)/config/ana_sim_config.yaml"/>
 
   <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
   <xacro:include filename="$(find iri_ana_description)/urdf/include/sensors.xacro" />
 
-  <xacro:pioneer3 name="$(arg name)" sim_config="$(find iri_ana_gazebo)/config/ana_sim_config.yaml">
+  <xacro:pioneer3 name="$(arg name)" sim_config="$(arg sim_config)">
   </xacro:pioneer3>
 
   <xacro:sensors name="$(arg name)" parent="top_plate">