open_world.launch

<launch>      
    
    <!-- 
        Opens a give world from "sb_gazebo/worlds" and 
        places a robot with a given name in it at a 
        given x,y and with a given rotation
    -->
    
    <arg name="world"/>
    <arg name="x_start_coordinate"/>
    <arg name="y_start_coordinate"/>
    <arg name="initial_rotation"/>
    <arg name="robot"/>

    <!-- Start up the world -->
    <include file="$(find sb_gazebo)/launch/gazebo_open_world.launch">       
        <arg name="world_name" value="$(find sb_gazebo)/worlds/$(arg world)"/> 
        <arg name="gui" value="true"/>
        <!-- Remap the tf topic to another topic, so that we can test out things
            that create tf's, like robot_pose_ekf -->
        <arg name="tf_topic" value="gazebo_tf"/>
    </include>  
    <remap from="tf" to="gazebo_tf"/>
    
    <!-- setup controllers for robot -->
    <include file="$(find sb_gazebo)/launch/$(arg robot)_control.launch" />

    <!-- 
        - Convert the xacro representation of the robot to xml
        - Load the xml representation of the robot to the paramater server
    -->
    <param name="robot_description"
        command="$(find xacro)/xacro --inorder '$(find sb_gazebo)/urdf/$(arg robot).xacro'" />

    <!-- push robot_description to factory and spawn robot in gazebo -->
    <node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
     args="-urdf -param robot_description -model $(arg robot) -x $(arg x_start_coordinate) -y $(arg y_start_coordinate) -Y $(arg initial_rotation)" />
</launch>