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fix: launch file by gemini

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This commit is contained in:
joyHuang 2025-12-10 15:28:31 +09:00
parent dcdde583ee
commit 837f6b70a7
Signed by: joy
GPG Key ID: FFD99A1CA77D33C8
1 changed files with 20 additions and 16 deletions
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36
myrobot_pkg/launch/xacro.launch
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@ -1,17 +1,22 @@
<launch>
<arg name="model"/>
<arg name="model" default="myrobot"/>
<arg name="gui" default="true"/>
<param name="robot_description" command="$(find xacro)/xacro /home/joy/catkin/src/myrobot_pkg/marcos/robot.xacro"/>
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz"/> -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_slam)/rviz/turtlebot3_gmapping.rviz"/>
<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
<arg name="x_pos" default="2.0"/>
<arg name="y_pos" default="0.5"/>
<arg name="z_pos" default="0.1"/>
<param name="robot_description" command="$(find xacro)/xacro $(find myrobot_pkg)/marcos/robot.xacro"/>
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_slam)/rviz/turtlebot3_gmapping.rviz"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
<arg name="paused" value="false"/>
@ -21,17 +26,16 @@
</include>
<node name="spawn_urdf"
pkg="gazebo_ros"
type="spawn_model"
args="-urdf -model myrobot
-x $(arg x_pos)
-y $(arg y_pos)
-z $(arg z_pos)
-param robot_description"/>
pkg="gazebo_ros"
type="spawn_model"
args="-urdf -model myrobot
-x $(arg x_pos)
-y $(arg y_pos)
-z $(arg z_pos)
-param robot_description"/>
<!-- SLAM -->
<include file="$(find turtlebot3_slam)/launch/turtlebot3_gmapping.launch">
<arg name="model" value="myrobot"/>
<arg name="model" value="$(arg model)"/>
<arg name="configuration_basename" value="$(arg configuration_basename)"/>
</include>