Starts Gazebo-specific ROS entities for ER75 robotic arm.

er75_start_gazebo.launch

<?xml version="1.0"?>
<launch>
  <arg name="paused" default="false"/>
  <arg name="gazebo_gui" default="true"/>

  <!-- startup simulated world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="gui" value="$(arg gazebo_gui)"/>
    <arg name="verbose" value="true"/>
  </include>

  <!-- send robot urdf to param server -->
  <param name="robot_description" command="$(find xacro)/xacro '$(find er75_description)/urdf/er75_robot.xacro'"/>

  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model er75 -x 0 -y 0 -z 0"
    respawn="false" output="screen" />

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find er75_control)/config/controllers.yaml" command="load"/>

  <!-- Load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" ns="/er75" output="screen" 
          args="--namespace=/er75
          joint_state_controller
          arm_controller
          --timeout 20"/>

</launch>