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Added config to slambox

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This commit is contained in:
Tim Korjakow
2023-07-09 16:36:43 +08:00
parent 4d41485c47
commit 481087197f
4 changed files with 39 additions and 2 deletions
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3
src/dcaiti_control/launch/launch_sim.py
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@ -25,6 +25,7 @@ def generate_launch_description():
package_name='dcaiti_control' #<--- CHANGE ME
use_ros2_control = LaunchConfiguration('use_ros2_control')
world_path='~/.gazebo/models'
rsp = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
@ -36,7 +37,7 @@ def generate_launch_description():
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
launch_arguments={'params_file': gazebo_params_path}.items()
launch_arguments={'params_file': gazebo_params_path, 'world': world_path }.items()
)
# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.