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<launch>
<!-- start up empty world -->
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<param name="/use_sim_time" value="true"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
</include>
<param name="robot_description" textfile="$(find ros_control_gazebo_tests)/models/orbit.urdf"/>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-x 0 -y 0 -z 0.80960000 -urdf -param robot_description -model orbit" />
<rosparam ns="orbit">
joint_state_controller_orbit:
type: joint_state_controller/JointStateController
publish_rate: 50
joint1_effort_controller:
type: effort_controller/JointEffortController
joint: left_hip_yaw
joint2_effort_controller:
type: effort_controller/JointEffortController
joint: left_hip_pitch
joint3_effort_controller:
type: effort_controller/JointEffortController
joint: left_knee_pitch
joint4_effort_controller:
type: effort_controller/JointEffortController
joint: left_ankle_pitch
joint5_effort_controller:
type: effort_controller/JointEffortController
joint: right_hip_yaw
joint6_effort_controller:
type: effort_controller/JointEffortController
joint: right_hip_pitch
joint7_effort_controller:
type: effort_controller/JointEffortController
joint: right_knee_pitch
joint8_effort_controller:
type: effort_controller/JointEffortController
joint: right_ankle_pitch
</rosparam>
</launch>
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