Gazebo + ROS で自分だけのロボットをつくる 7. 実際にlaunchしてみる ref: http://qiita.com/RyodoTanaka/items/af834ed767589a02e27a

controller.yaml

fourth_robot:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

  diff_drive_controller:
    type        : "diff_drive_controller/DiffDriveController"
    left_wheel  : 'left_wheel_joint'
    right_wheel : 'right_wheel_joint'
    publish_rate: 25.0               # default: 50
    pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
    twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

    # Wheel separation and diameter. These are both optional.
    # diff_drive_controller will attempt to read either one or both from the
    # URDF if not specified as a parameter
    wheel_separation : 0.43515
    wheel_radius : 0.032

    # Wheel separation and radius multipliers
    wheel_separation_multiplier: 1.0 # default: 1.0

file1.xml

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="model" default="$(find fourth_robot_description)/robots/fourth_robot.urdf.xacro"/>
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

file2.xml

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find fourth_robot_gazebo)/worlds/clearpath_playpen.world"/>
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

file3.xml

<!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
         command="$(find xacro)/xacro.py '$(arg model)'" />

  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
        args="-urdf -model fourth_robot -param robot_description"/>

file4.xml

  <!-- ros_control motoman launch file -->
  <include file="$(find fourth_robot_control)/launch/fourth_robot_control.launch"/>

file6.xml

<!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find fourth_robot_control)/config/controller.yaml" command="load"/>

file8.xml

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager"
        type="spawner" output="screen" 
        args="joint_state_controller
              diff_drive_controller">
  </node>

file9.xml

<!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher"
        type="robot_state_publisher"
        respawn="false" output="screen">
  </node>

fourth_robot_control.launch

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find fourth_robot_control)/config/controller.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager"
        type="spawner" output="screen" 
        args="joint_state_controller
              diff_drive_controller">
  </node>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher"
        type="robot_state_publisher"
        respawn="false" output="screen">
  </node>

</launch>

husky_playworld.launch

<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="model" default="$(find fourth_robot_description)/robots/fourth_robot.urdf.xacro"/>
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find fourth_robot_gazebo)/worlds/clearpath_playpen.world"/>
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>

  <!-- lrf merger -->
  <include file="$(find fourth_robot_bringup)/launch/sensors/lrf_merger.launch"/>

  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
         command="$(find xacro)/xacro.py '$(arg model)'" />

  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
        args="-urdf -model fourth_robot -param robot_description"/>

  <!-- ros_control motoman launch file -->
  <include file="$(find fourth_robot_control)/launch/fourth_robot_control.launch"/>
</launch>