Created
May 27, 2020 16:20
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<launch> | |
<arg name="model" default="$(find urdf_tutorial)/urdf/01-myfirst.urdf"/> | |
<arg name="gui" default="false" /> | |
<arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" /> | |
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" /> | |
<param name="use_gui" value="$(arg gui)"/> | |
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> | |
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> | |
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" /> | |
</launch> |
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