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[WIP] add gazebo_mode_pose_publish.launch to publish object TF from gazebo #575

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[WIP] add gazebo_mode_pose_publish.launch to publish object TF from gazebo #575

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19 changes: 19 additions & 0 deletions hironx_tutorial/launch/gazebo_mode_pose_publish.launch
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Original file line number Diff line number Diff line change
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<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>