From 780ba83dcce2eacb197ea54b118cd9d1b5c8141f Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Tue, 5 May 2020 15:47:23 +0900
Subject: [PATCH] add gazebo_mode_pose_publish.launch to publish object TF from
 gazebo

---
 .../launch/gazebo_mode_pose_publish.launch    | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)
 create mode 100644 hironx_tutorial/launch/gazebo_mode_pose_publish.launch

diff --git a/hironx_tutorial/launch/gazebo_mode_pose_publish.launch b/hironx_tutorial/launch/gazebo_mode_pose_publish.launch
new file mode 100644
index 00000000..1056854b
--- /dev/null
+++ b/hironx_tutorial/launch/gazebo_mode_pose_publish.launch
@@ -0,0 +1,19 @@
+<launch>
+  <group ns="gazebo">
+    <node pkg="gazebo_ros" type="gazebo_ros_model_pose_publisher"
+          name="gazebo_ros_model_pose" >
+      <param name="base_frame" value="/world" />
+      <param name="update_rate" value="100" />
+      <param name="tf_prefix" value="/gazebo/" />
+    </node>
+  </group>
+
+  <node pkg="tf" type="static_transform_publisher"
+        name="static_transform_publisher_robot_odom"
+        args="0 0 0 0 0 0 /gazebo/HIRONXJSK /odom 100" />
+
+  <node pkg="rqt_joint_trajectory_controller"
+        type="rqt_joint_trajectory_controller"
+        name="rqt_joint_trajectory_controller" />
+
+</launch>