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Added imu sensor and adjusted parameters #8

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b47289a
Added imu sensor and adjusted parameters
shamada-idec May 21, 2025
257b309
Update settings of frame_id and added an argument for gazebo_with_ex_…
shamada-idec Sep 8, 2025
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27 changes: 27 additions & 0 deletions launch/gazebo_with_ex_tool.launch
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Original file line number Diff line number Diff line change
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<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg name="rviz" default="true" />
<arg name="gui" default="true" />

<param name="robot_description" textfile="$(find swd_starter_kit_description)/urdf/swd_starter_kit_with_ex_tool.urdf" />

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" if="$(arg rviz)"/>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find swd_starter_kit_description)/config/swd_starter_kit.rviz" if="$(arg rviz)"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find swd_starter_kit_description)/worlds/four_boxes.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true"/>
</include>

<node name="spawn_model" pkg="gazebo_ros" type="spawn_model"
args="-file $(find swd_starter_kit_description)/urdf/swd_starter_kit_with_ex_tool.urdf -urdf -model swd_starter_kit"
output="screen" />
</launch>
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