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TurtleBot
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odom added

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Ly PECHVATTANA 2023-08-30 02:12:19 -07:00
parent d8b8e0dcd3
commit ee94340c35
2 changed files with 22 additions and 0 deletions
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21
src/turtlebot_description/launch/gazebo.launch
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<launch>
<arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
<arg name="world" default="$(find kubot_description)/worlds/ku_lab/ku_model.sdf"/>
<!-- <arg name="world" default="empty_world"/> -->
<param name="robot_description" command="$(find xacro)/xacro '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="recording" value="false"/>
<arg name="debug" value="false"/>
</include>
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
args="-unpause -urdf -model robot -param robot_description"
output="screen" respawn="false"/>
</launch>

1
src/turtlebot_description/urdf/turtlebot.urdf.xacro
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<?xml version="1.0"?>
<robot name="turtlebot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
<xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.xacro"/>