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labrobotica
ros
robots
ana
iri_ana_description
Merge requests
!2
Add sim_config argument to choose yaml file to load
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Add sim_config argument to choose yaml file to load
melodic_migration
into
master
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Merged
Fernando Herrero
requested to merge
melodic_migration
into
master
4 years ago
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238eb2a0
1 commit,
4 years ago
2 files
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launch/description.launch
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@@ -3,13 +3,14 @@
@@ -3,13 +3,14 @@
<arg
name=
"ns"
default=
"ana"
/>
<arg
name=
"ns"
default=
"ana"
/>
<arg
name=
"model"
default=
"ana"
/>
<arg
name=
"model"
default=
"ana"
/>
<arg
name=
"sim_config"
default=
"$(find iri_ana_gazebo)/config/ana_sim_config.yaml"
/>
<arg
name=
"state_pub"
default=
"true"
/>
<arg
name=
"state_pub"
default=
"true"
/>
<arg
name=
"static_wheels"
default=
"false"
/>
<arg
name=
"static_wheels"
default=
"false"
/>
<group
ns=
"$(arg ns)"
>
<group
ns=
"$(arg ns)"
>
<param
name=
"robot_description"
<param
name=
"robot_description"
command=
"$(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=
"$(arg state_pub)"
<node
if=
"$(arg state_pub)"
pkg=
"robot_state_publisher"
pkg=
"robot_state_publisher"
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