Hands-On ROS for Robotics Programming

Launching the GoPiGo model in Gazebo

The single-launch file of this chapter can be found under the launch folder of the package and is called gopigo_gazebo.launch. We've divided its code into the following two snippets for explanation purposes:

<launch>  <include file="$(find gazebo_ros)/launch/empty_world.launch">    <arg name="world_name" value="$(find gazebo_basics)/worlds/gopigo.world"/>    <arg name="paused" default="false"/>    <arg name="use_sim_time" default="true"/>    <arg name="gui" default="true"/>    <arg name="headless" default="false"/>    <arg name="debug" default="false"/>  </include>

Here, you can see two new tags, <include> and <arg>. The former allows us to include launch files from other ROS packages, while the latter allows us to make the ...