cat

gistfile1.txt

<?xml version="1.0" ?>
<launch>
  <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"/>
  <arg name="verbose" default="false"/>
  <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->

  <!-- Start gazebo and load the world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch" >
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="verbose" value="$(arg verbose)"/>
    <arg name="world_name" value="$(arg world_name)"/>
  </include>

  <!-- Spawn the Base -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mavs_description)/urdf/base.urdf.xacro'" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-param /robot_description -urdf -model base_example"/>
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

</launch>