GLaDOS/glados_viz/launch/view_model.launch

23 lines
739 B
XML

<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find glados_description)/urdf/glados.urdf.xacro'"/>
<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui">
</node>
<rosparam>
joint_state_publisher_gui:
zeros:
joint2: 1.5
joint3: -1.2
joint4: -0.78
</rosparam>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find glados_viz)/rviz/model.rviz"/>
</launch>