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use cob_bringup robot.xml in simulation #131

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Jan 18, 2017
Merged

use cob_bringup robot.xml in simulation #131

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11 changes: 3 additions & 8 deletions cob_gazebo/launch/robot.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -9,19 +9,14 @@
<arg name="initial_config" default=""/>

<!-- upload default configuration parameters -->
<include file="$(arg pkg_robot_config)/upload_param.launch">
<arg name="robot" value="$(arg robot)" />
</include>

<!-- send robot urdf to param server -->
<include file="$(find cob_hardware_config)/common/upload_robot.launch" >
<arg name="robot" value="$(arg robot)" />
<include file="$(find cob_bringup)/robots/$(arg robot).xml" >
<arg name="sim" value="true" />
</include>

<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1 $(arg initial_config) -wait $(arg robot_env)" respawn="false" output="screen" />

<!-- start gazebo controllers -->
<!-- start additional gazebo stuff -->
<include file="$(find cob_controller_configuration_gazebo)/launch/robots/default_controllers_$(arg robot).launch" >
<arg name="robot" value="$(arg robot)" />
</include>
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