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<?xml version="1.0"?>
<launch>
<arg name="limited" default="false"/>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<!-- send robot urdf to param server -->
<param unless="$(arg limited)" name="robot_description" command="xacro '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<param if="$(arg limited)" name="robot_description" command="xacro '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
<include file="$(find ur10_moveit_config)/launch/ros_controllers.launch"/>
</launch>
@mcevoyandy

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commented Jun 3, 2018

did you mean to make one of the xacros ur10_joint_limited_robot.urdf.xacro?

@davetcoleman

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commented Jun 8, 2018

This makes sense as its an example for UR10 right?

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