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11 lines
633 B
XML
11 lines
633 B
XML
<launch>
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<arg default="$(find olympian_description)/urdf/olympian.xacro" name="model"/>
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<arg default="true" name="gui"/>
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<arg default="$(find olympian_description)/launch/urdf.rviz" name="rvizconfig"/>
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<param command="$(find xacro)/xacro $(arg model)" name="robot_description"/>
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<param name="use_gui" value="$(arg gui)"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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<node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/>
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</launch>
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