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/gist:5945597
Created Jul 8, 2013

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<launch>
<!-- roslaunch arguments -->
<arg name="robot_name" default="orbit"/>
<arg name="debug" default="false"/>
<arg name="gui" default="true"/>
<!-- 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 orbit_gazebo)/worlds/orbit.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="false"/>
<arg name="headless" value="false"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
textfile="$(find orbit_description)/urdf/orbit.urdf" />
<!-- Call a python script to the run a service call to gazebo_ros to spawn a URDF robot -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -param robot_description -urdf -z 0.79710 -model orbit" />
</launch>
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