gazebo.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>

<arg name="paused" default="false"/>
<arg name="meshes" default="true"/>
<arg name="world" default="empty"/> <!-- empty, field, obstacles, robot, small_field -->
<arg name="world_odom" default="true"/>
<arg name="pose" default="-x -8.84 -y -13 -Y 1.570796327"/>
<arg name="gui" default="true"/>

<!-- starts gazebo with he given world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
  <arg name="world_name" value="$(find weed_robot_gazebo)/worlds/$(arg world).world"/>
  <arg name="debug" value="false" />
  <arg name="gui" value="$(arg gui)" />
  <arg name="paused" value="$(arg paused)"/>
  <arg name="use_sim_time" value="true"/>
  <arg name="headless" value="false"/>
</include>

<!-- loads robot model -->
<param name="robot_description"
    command="$(find xacro)/xacro $(find weed_robot_gazebo)/urdf/gazebo.xacro 
      meshes:=$(arg meshes) world_odom:=$(arg world_odom)"/>

<!-- publishes tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

<!-- loads configuration files -->
<rosparam file="$(find weed_robot_gazebo)/config/hardware.yaml" command="load"/>
<rosparam file="$(find weed_robot_gazebo)/config/pids.yaml" command="load"/>

<!-- robot spawner -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="-urdf -model weed_robot -param robot_description $(arg pose)"/>

<include file="$(find weed_robot_gazebo)/launch/control.launch">
  <arg name="world_odom" value="$(arg world_odom)"/>
</include>

</launch>