14 lines
688 B
XML
14 lines
688 B
XML
<launch>
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<arg name="urdf_file" default="$(find assembly_1)/urdf/assembly_1.urdf"/>
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<param name="robot_description" textfile="$(arg urdf_file)"/>
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
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<arg name="use_gui" default="true"/>
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<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui">
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<rosparam param="zeros">
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</rosparam>
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</node>
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<node pkg="tf2_ros" type="static_transform_publisher" name="map_to_root" args="0 0 0 0 0 0 map root" />
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<node pkg="rviz" type="rviz" name="rviz" output="screen"/>
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</launch> |