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jieshoudaxue
18 lines
755 B
XML
18 lines
755 B
XML
<launch>
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<arg name="model" default="$(find xacro)/xacro '$(find mbot_description)/urdf/mbot_base.xacro'" />
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<param name="robot_description" command="$(arg model)" />
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<!-- 设置GUI参数，显示关节控制插件 -->
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<param name="use_gui" value="true"/>
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<!-- 运行joint_state_publisher节点，发布机器人的关节状态 -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<!-- 运行robot_state_publisher节点，发布tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- 运行rviz可视化界面 -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_xacro.rviz" required="true" />
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</launch> |