houyongdi/dreamDeckAutopilot
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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/hunter_se_description/launch/display.launch
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<?xml version="1.0"?>
<launch>
<arg name="model" default="$(find hunter_se_description)/urdf/hunter_se_description.urdf"/>
<arg name="gui" default="true"/>
<param name="robot_description" textfile="$(arg model)"/>
<para name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>
sensors/hunter_se_description/launch/gazebo.launch
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<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<!-- <node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" /> -->
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find hunter_se_description)/urdf/hunter_se_description.urdf -urdf -model hunter_se_description"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>