farscope_example_robot_simulate.launch

<?xml version="1.0" ?>

<!-- simulate example robot with example controller in the challenge scenario -->

<launch>

  <!-- launch Gazebo in the Group Challenge world -->
  <!-- use `roslaunch farscope_example_robot_simulate use_gui:=false` to turn off Gazebo GUI -->-->
  <arg name="use_gui" default="true" />
  <include file="$(find farscope_group_project)/launch/challenge/farscope_group_challenge_gazebo.launch">
    <arg name="gui" value="$(arg use_gui)" />
  </include>

  <!-- load the example robot description-->
  <param name="robot_description" command="$(find xacro)/xacro $(find farscope_group_project)/models/example_robot/farscope_example_robot.urdf.xacro" />

  <!-- need a robot state publisher to translate joints into TF information -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot" respawn="false" output="screen" />

  <!-- start controllers for the UR10 arm and the simple gripper -->
  <include file="$(find farscope_group_project)/launch/common/ur10_controllers.launch" />
  <include file="$(find farscope_group_project)/launch/common/gripper_controller.launch" />

  <!-- run example controller -->
  <node name="robot_controller" pkg="farscope_group_project" type="test_pickup.py" />

  <!-- optional RViz is very CPU hungry : use `roslaunch farscope_example_robot_simulate use_rviz:=true` to include it anyway -->
  <arg name="use_rviz" default="false" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find farscope_group_project)/launch/example_robot/simulate.rviz" if="$(arg use_rviz)" />

</launch>