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Condensing launchfiles into Jackal-like format, using description.launch properly #7

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Condensing launchfiles into Jackal-like format, using description.launch properly #7

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2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
*.swp
*.swo
52 changes: 0 additions & 52 deletions grizzly_gazebo/launch/base_gazebo.launch
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This file was deleted.

32 changes: 29 additions & 3 deletions grizzly_gazebo/launch/grizzly.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -30,12 +30,38 @@ robot model in Gazebo
-->

<launch>
<arg name="description" />
<!-- Grizzly accessories which may be simulated. Pass true to enable -->
<arg name="front_laser" default="true" />
<arg name="gps" default="true" />

<!-- Starting location of robot -->
<arg name="x_0" default="0.0" />
<arg name="y_0" default="0.0" />

<!-- Send the Grizzly Robot URDF to param server -->
<include file="$(find grizzly_description)/launch/description.launch">
<arg name="accessories" value="true" />
<arg name="front_laser" value="$(arg front_laser)" />
</include>

<!--
<include file="$(find grizzly_gazebo)/launch/base_gazebo.launch">
<arg name="description" value="$(arg description)" />
</include>
</include>-->

<!-- Launch basic control nodes -->
<include file="$(find grizzly_motion)/launch/motion.launch">
<arg name="simulate" value="true" />
</include>
<include file="$(find grizzly_navigation)/launch/localization.launch"/>
<include file="$(find grizzly_control)/launch/localization.launch"/>

<!-- Push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description
-urdf
-x $(arg x_0)
-y $(arg y_0)
-z 0.2
-model grizzly"
respawn="false" output="screen" />
</launch>
10 changes: 5 additions & 5 deletions grizzly_gazebo/launch/grizzly_empty_world.launch
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Expand Up @@ -30,11 +30,11 @@ robot model in Gazebo
-->

<launch>
<arg name="description" default="$(find grizzly_description)/urdf/base.urdf.xacro" />
<arg name="world" default="worlds/empty.world" />

<include file="$(find gazebo_ros)/launch/empty_world.launch"/>

<include file="$(find grizzly_gazebo)/launch/grizzly.launch">
<arg name="description" value="$(arg description)" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="$(arg world)" />
</include>

<include file="$(find grizzly_gazebo)/launch/grizzly.launch" />
</launch>