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rethink-imcmahon/bringup_new_robot.launch

Last active January 25, 2016 23:32
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bringup_new_robot.launch
<?xml version="1.0" ?>
<launch>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" command="cat '$(find your_robot_description)urdf/your.urdf'" />
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" args="_use_gui:=true"/>
<!-- Publish a static transform between the world and the base of the robot -->
<node pkg="tf2_ros" type="static_transform_publisher" name="base_to_world" args="0 0 0 0 0 0 1 world base" />
<node name="robot_state_publisher" type="robot_state_publisher" pkg="robot_state_publisher" output="screen"/>
<node name="rviz" pkg="rviz" type="rviz" output="screen"/>
</launch>
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