Added put robot in world

gkjohnson · May 27, 2020 · 348288b · 348288b
1 parent 9497438
commit 348288b
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Showing 3 changed files with 38 additions and 1 deletion.
diff --git a/curiosity_mars_rover_description/launch/curiosity_mars_rover_spawn.launch b/curiosity_mars_rover_description/launch/curiosity_mars_rover_spawn.launch
@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
 	<arg name="x" default="0.0" />
@@ -7,6 +8,7 @@
     <arg name="pitch" default="0"/>
     <arg name="yaw" default="0.0" />
 
+
 	<arg name="model" default="$(find curiosity_mars_rover_description)/urdf/curiosity_mars_rover.xacro"/>
 
 	<!-- 

diff --git a/curiosity_mars_rover_description/launch/curiosity_mars_rover_start.launch b/curiosity_mars_rover_description/launch/curiosity_mars_rover_start.launch
@@ -1,5 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<include file="$(find curiosity_mars_rover_description)/launch/curiosity_mars_rover_spawn.launch"/>
+	<arg name="x" default="0.0" />
+    <arg name="y" default="0.0" />
+    <arg name="z" default="0.0" />
+    <arg name="roll" default="0.0"/>
+    <arg name="pitch" default="0.0"/>
+    <arg name="yaw" default="0.0"/>
+
+	<include file="$(find curiosity_mars_rover_description)/launch/curiosity_mars_rover_spawn.launch">
+		<arg name="x" value="$(arg x)" />
+		<arg name="y" value="$(arg y)" />
+		<arg name="z" value="$(arg z)" />
+		<arg name="roll" value="$(arg roll)"/>
+		<arg name="pitch" value="$(arg pitch)"/>
+		<arg name="yaw" value="$(arg yaw)" />
+	</include>
+
 	<include file="$(find curiosity_mars_rover_description)/launch/curiosity_mars_rover_control.launch"/>
 	<include file="$(find curiosity_mars_rover_description)/launch/curiosity_mars_rover_systems.launch"/>
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find curiosity_mars_rover_description)/rviz/curiosity_mars_rover.rviz" />

diff --git a/curiosity_mars_rover_description/launch/put_robot_in_world.launch b/curiosity_mars_rover_description/launch/put_robot_in_world.launch
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <arg name="x" default="0.0" />
+    <arg name="y" default="0.0" />
+    <arg name="z" default="0.0" />
+    <arg name="roll" default="0.0"/>
+    <arg name="pitch" default="0.0"/>
+    <arg name="yaw" default="0.0"/>
+
+
+  <include file="$(find curiosity_mars_rover_description)/launch/curiosity_mars_rover_start.launch">
+    <arg name="x" value="$(arg x)" />
+    <arg name="y" value="$(arg y)" />
+    <arg name="z" value="$(arg z)" />
+    <arg name="roll" value="$(arg roll)"/>
+    <arg name="pitch" value="$(arg pitch)"/>
+    <arg name="yaw" value="$(arg yaw)" />
+  </include>
+</launch>