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<launch>
<!-- You can overwrite these arguments from the commmand line. -->
<!-- URDF parameter. -->
<arg name="urdf" default="samurai.urdf"/>
<arg name="model" default="$(find cs133-final-robot)/urdf/$(arg urdf)"/>
<!-- Rviz configuration file parameter. -->
<arg name="cfg" default="$(find cs133-final-robot)/rviz/view133.rviz" />
<!-- Load the URDF file into the robot_description parameter. -->
<param name="robot_description" textfile="$(arg model)"/>
<!-- Start a GUI with sliders to command the joints. -->
<node pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui"
name="joint_state_publisher_gui"
output="screen">
</node>
<!-- Start the ROS kinematic chain processing. -->
<node pkg="robot_state_publisher"
type="robot_state_publisher"
name="robot_state_publisher"
output="screen">
<param name="ignore_timestamp" value="true"/>
</node>
<!-- Run the rviz visualization, with the specified config file -->
<node pkg="rviz"
type="rviz"
name="rviz"
args="-d $(arg cfg)"
output="screen"/>
</launch>