robile_gazebo.launch

<?xml version="1.0"?>

<launch>
    <!-- platform_configuration options -->
    <arg name="platform_config"/> <!-- (must be defined in the 'robile_description' ros package) -->
    <arg name="use_kelo_tulip" default="true"/>
    <arg name="hub_wheel_controller_list"/>
    <arg name="platform_max_lin_vel" default="1.0"/> <!-- in m/s -->
    <arg name="platform_max_ang_vel" default="1.0"/> <!-- in rad/s -->

    <!-- ROBOT SPAWN POSE -->
    <arg name="init_pos_x" default="0.0"/>
    <arg name="init_pos_y" default="0.0"/>
    <arg name="init_pos_z" default="0.0"/>
    <arg name="init_yaw" default="0.0"/>

    <!-- launch robot in Gazebo -->
    <param if="$(arg use_kelo_tulip)" name="robot_description"
           command="$(find xacro)/xacro '$(find robile_description)/gazebo/gazebo_robile.xacro' platform_config:=$(arg platform_config)"/>
    <param unless="$(arg use_kelo_tulip)" name="robot_description"
           command="$(find xacro)/xacro '$(find robile_description)/gazebo/gazebo_robile.xacro' platform_config:=$(arg platform_config) movable_joints:=false"/>
    <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)
        -Y $(arg init_yaw)
        -model robile">
    </node>

    <group if="$(arg use_kelo_tulip)">
        <!-- Load joint controller configurations from YAML file to parameter server -->
        <rosparam file="$(find robile_gazebo)/config/ros_controller/$(arg platform_config).yaml" command="load"/>

        <!-- Start the Gazebo platform controller node -->
        <param name="platform_max_lin_vel" type="double" value="$(arg platform_max_lin_vel)"/>
        <param name="platform_max_ang_vel" type="double" value="$(arg platform_max_ang_vel)"/>
        <node name="robile_gazebo_platform_controller" pkg="robile_gazebo" type="robile_gazebo_platform_controller" />

        <!-- spawn controllers -->
        <node name="robile_ros_controller_spawner" pkg="controller_manager" type="spawner" output="screen" 
            args="joint_state_controller $(arg hub_wheel_controller_list)" />
    </group>

</launch>