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Robot Operating System Cookbook by Kumar Bipin

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How to do it…

  1. Begin by creating a new file in chapter7_tutorials/launch with the name chapter7_configuration_gazebo.launch, and add the following code:
<?xml version="1.0"?><launch><param name="/use_sim_time" value="true" /><remap from="robot/laser/scan" to="/scan" /><!-- start up wg world --><include file="$(find gazebo_ros)/launch/willowgarage_world.launch"></include><arg name="model" default="$(find chapter7_tutorials)/urdf/robot_model_05.xacro"/><param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" /><node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node><!-- start robot state publisher --><node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" ...

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