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<?xml version="1.0"?>
<launch>
<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
<arg name="robot_env" default="$(optenv ROBOT_ENV !!NO_ROBOT_ENV_SET!!)"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="init_pos_x" default="-0.5"/>
<arg name="init_pos_y" default="0.0"/>
<arg name="init_pos_z" default="0.08"/>
<arg name="use_arm_traj_ctrl" default="true"/>
<!-- upload robot params (joint configurations) -->
<include file="$(find mir_default_robot_config)/upload_param.launch" >
<arg name="robot" value="$(arg robot)" />
</include>
<!-- start gazebo and load environment -->
<include file="$(find mcr_gazebo_worlds)/ros/launch/$(arg robot_env).launch">
<arg name="paused" value="$(arg paused)" />
<arg name="use_sim_time" value="$(arg use_sim_time)" />
<arg name="gui" value="$(arg gui)" />
</include>
<!-- upload robot description -->
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find mir_hardware_config)/$(arg robot)/urdf/robot.urdf.xacro" />
<node pkg="gazebo_ros" type="spawn_model" name="spawn_robot" respawn="false" output="screen"
args="-param robot_description
-urdf
-x $(arg init_pos_x)
-y $(arg init_pos_y)
-z $(arg init_pos_z)
-model youbot">
</node>
<!-- launch joint state controller -->
<include file="$(find youbot_gazebo_control)/launch/joint_state_controller.launch" />
<!-- launch robot state controller -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="100.0" />
</node>
<!-- load robot specific launch files -->
<include file="$(find mir_bringup_sim)/robots/$(arg robot).launch">
<arg name="use_arm_traj_ctrl" value="$(arg use_arm_traj_ctrl)" />
</include>
</launch>
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