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world_plus_huskies.launch
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<?xml version="1.0"?>
<launch>
<arg name="gui" default="true" doc="Show GUI? [true, false]"/>
<arg name="headless" default="false" doc="Headless? [true, false]"/> <!-- I don't think this actually does anything -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!-- Choose ONE of these approaches...
1. Use one of the default gazebo worlds (no package specified)
See below for potential worlds
Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable
<arg name="world_name" value="worlds/cafe.world"/>
<arg name="world_name" value="worlds/willowgarage.world"/>
2. Use a world from a specific package
Here are some examples:
<arg name="world_name" value="$(find husky_gazebo)/worlds/clearpath_playpen.world"/>
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_autorace.world"/>
<arg name="world_name" value="$(find ub_gazebo)/worlds/SOAR.world"/>
-->
<arg name="world_name" value="$(find husky_gazebo)/worlds/clearpath_playpen.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="debug" value="false"/>
</include>
<include file="$(find ub_gazebo)/launch/husky_spawn.launch">
<arg name="robot_namespace" default="husky/1"/> <!-- Each robot must have a unique namespace -->
<arg name="x" default="0.0" />
<arg name="y" default="0.0" />
<arg name="z" default="0.0" />
<arg name="yaw" default="1.57" />
</include>
<include file="$(find ub_gazebo)/launch/husky_spawn.launch">
<arg name="robot_namespace" default="husky/2"/> <!-- Each robot must have a unique namespace -->
<arg name="x" default=" 1.0" />
<arg name="y" default="-2.0" />
<arg name="z" default=" 0.0" />
<arg name="yaw" default=" 2.2" />
</include>
</launch>
<!--
cd /usr/share/gazebo-11/worlds
ls
actor_bvh.world fiducial.world lift_drag_demo.world polyline.world simple_gripper.world
actor.world flash_light_plugin_demo.world lights.world population.world single_rotor_demo.world
animated_box.world flocking.world linear_battery_demo.world pr2.world sonar_demo.world
animation_tension.world force_torque_demo.world logical_camera.world presentation.world sphere_atlas_demo.world
attach_lights.world friction_demo.world lookat_demo.world pressure_sensor.world spotlight_shadows_demo.world
blank.world friction_pyramid.world magnetometer.world profiler.world ssao_plugin.world
blink_visual.world fuel_models.world mass_on_rails.world projector.world stacks.world
cafe.world gravity_compensation.world misalignment_plugin_demo.world random_velocity.world static_map_plugin.world
camera_intrinsics.world gripper.world mud_bitmask.world ray_cpu.world timer_gui.world
camera.world harness.world mud.world ray_noise_plugin.world torsional_friction_demo.world
cart_demo.world heightmap_dem.world multilink_shape.world reflectance.world touch_plugin_demo.world
cessna_demo.world heightmap.world nested_model.world road_textures.world tracked_vehicle_simple.world
collision_zero.world hydra_demo.world nested_multilink_shape.world road.world tracked_vehicle_wheeled.world
contact.world imu_demo.world openal.world robocup09_spl_field.world transporter.world
contain_plugin_demo.world initial_velocity.world ortho.world robocup14_spl_field.world trigger.world
contain_plugin_moving_demo.world init_joint_control.world osrf_elevator.world robocup_3Dsim.world twin_rotor_demo.world
deform_visual.world iris_arducopter_demo.world pioneer2dx_camera.world rubble.world underwater.world
depth_camera2.world joint_damping_demo.world pioneer2dx_laser_camera.world seesaw.world variable_gearbox_plugin.world
depth_camera.world joint_friction_demo.world pioneer2dx_laser.world shapes_bitmask.world willowgarage.world
elevator.world joints.world pioneer2dx.world shapes_layers.world wind_demo.world
empty_1_0.world joy_demo.world plane_demo.world shapes_shininess.world wireless_sensors.world
empty_bullet.world keys_to_cmd_vel.world plane_propeller_demo.world shapes.world zephyr_demo.world
empty_sky.world led_plugin_demo.world plot3d.world sim_events.world
empty.world lensflare_plugin.world plugin.world simple_arm_teleop.world
everything.world lensflare_wideangle_cam.world point_light_shadows_demo.world simple_arm.world
-->