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20 lines
1.1 KiB
XML
20 lines
1.1 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<!-- Toggleable model parameters -->
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<!-- Main camera -->
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<arg name="main_camera" default="true"/>
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<!-- Slow simulation down to maintain camera rate -->
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<arg name="maintain_camera_rate" default="false"/>
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<arg name="rangefinder" default="true"/>
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<arg name="led" default="true"/>
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<arg name="gps" default="true"/>
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<!-- Use physics parameters from CAD programs -->
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<arg name="use_clover_physics" default="false"/>
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<arg name="hitl" default="false"/>
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<arg name="cmd" default="$(find xacro)/xacro $(find clover_description)/urdf/clover/clover4.xacro main_camera:=$(arg main_camera) rangefinder:=$(arg rangefinder) led:=$(arg led) gps:=$(arg gps) maintain_camera_rate:=$(arg maintain_camera_rate) use_clover_physics:=$(arg use_clover_physics) hitl:=$(arg hitl)"/>
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<param command="$(arg cmd)" name="drone_description"/>
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<!-- Note: -package_to_model replaces all mentions of "package://" with "model://" in urdf URIs -->
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<node name="$(anon spawn)" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param drone_description -model clover -z 0.3"/>
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</launch>
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