load_robot.launch

<!--
    This file launches a robot and it's associated controller
-->
<launch>
    <!--
        The name of the robot to load, this will be used to construct filepaths
        for the files defining the robot
    -->
    <arg name="robot_name"/>

    <!--
        The initial position and rotation to spawn the robot at
    -->
    <arg name="x_start_coordinate"  default="0"/>
    <arg name="y_start_coordinate"  default="0"/>
    <arg name="initial_rotation"    default="0"/>

    <!-- Setup controllers for robot -->
    <include file="$(find sb_gazebo)/launch/$(arg robot_name)_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)/robots/$(arg robot_name).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_name) 
        -x $(arg x_start_coordinate) 
        -y $(arg y_start_coordinate) 
        -Y $(arg initial_rotation)
    "/>
 
</launch>