diff --git a/launch/description.launch b/launch/description.launch new file mode 100644 index 0000000000000000000000000000000000000000..f026cf7d9de7f695701b33d6a4bd85bcdcf6450b --- /dev/null +++ b/launch/description.launch @@ -0,0 +1,16 @@ +<?xml version="1.0" encoding="UTF-8"?> +<launch> + + <arg name="node_name" default="ana"/> + <arg name="model" default="ana"/> + + <param name="robot_description" + command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg node_name)" /> + + <node pkg="robot_state_publisher" type="state_publisher" name="$(arg node_name)_state_publisher"> + <param name="tf_prefix" type="string" value="/$arg node_name)"/> + <param name="publish_frequency" type="double" value="20.0"/> + </node> + +</launch> +