beacon.launch

<?xml version="1.0" ?>
<launch>
  <arg name="robot_namespace" default="/"/>
  <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)" />
  <arg name="x" default="0.0" />
  <arg name="y" default="0.0" />
  <arg name="z" default="0.0" />
  <arg name="gpu" default="false"/>

  <group ns="$(arg robot_namespace)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(env HOME)/marble/scripts/velodyne.urdf.xacro' gpu:=$(arg gpu) robot_namespace:=$(arg robot_namespace)" />
    <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
      <param name="publish_frequency" type="double" value="30.0" />
    </node>

    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
        args="-urdf
              -model $(arg robot_namespace)
              -param robot_description
              -x $(arg x)
              -y $(arg y)
              -z $(arg z)" />
    <!-- <include file="$(find x2_control)/launch/control.launch"> -->
    <!--   <arg name="robot_namespace" value="$(arg robot_namespace)" /> -->
    <!-- </include> -->
  </group>
</launch>