27 lines
582 B
Plaintext
27 lines
582 B
Plaintext
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<launch>
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<arg
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name="model" />
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<arg
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name="gui"
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default="True" />
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<param
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name="robot_description"
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textfile="$(find jaka_description)/urdf/jaka_description.urdf" />
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<param
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name="use_gui"
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value="$(arg gui)" />
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<node
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name="joint_state_publisher"
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pkg="joint_state_publisher"
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type="joint_state_publisher" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find jaka_description)/urdf/jaka.rviz" />
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</launch>
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