simulation.launch

<!--
    This launch file simulates UR-10 robot using Gazebo with
     - an RGBD sensor attached to the end effector,
     - the P72 part lying on a table.

    After launching this file, the simulated robot should be in the same state
    as the real robot when turned on.

-->
<launch>

  <!-- Remap topic /camera/depth/image_raw -->
  <remap from="/camera/depth/image_raw" to="/camera/depth/image_rect_raw" />

  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
  <arg name="gui" default="true" doc="Starts gazebo gui" />
  <arg name="debug" default="false"/>
  <arg name="part" default="plaque-tubes-with-table"/>
<!-- <arg name="part_pose" default="-x 1.6 -Y -1.57079632679"/> -->
<arg name="part_pose" default="-x 1.895 -y 8.008 -z 3.426 -Y -1.57079632679"/>
  <arg name="slower" default="false"/>

  <group if="$(arg slower)">
    <!-- startup simulated world with gazebo 30 times slower -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
      <arg name="world_name" default="$(find agimus_demos)/worlds/empty.world"/>
      <arg name="paused" value="$(arg paused)"/>
      <arg name="gui" value="$(arg gui)"/>
      <arg name="debug" value="$(arg debug)"/>
      <arg name="verbose" value="true"/>
    </include>
  </group>
  <group unless="$(arg slower)">
    <!-- startup simulated world -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
      <arg name="world_name" default="worlds/empty.world"/>
      <arg name="paused" value="$(arg paused)"/>
      <arg name="gui" value="$(arg gui)"/>
      <arg name="debug" value="$(arg debug)"/>
      <arg name="verbose" value="true"/>
    </include>
  </group>

  <!-- send robot urdf to param server -->
  <include file="$(find agimus_demos)/launch/ur10_pointing_ur10_upload.launch">
  </include>

  <rosparam command="load"
            file="$(find agimus_demos)/ur10/pointing/config/pid.yaml"/>
  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
  args="-urdf -param robot_description -model robot -z 0.0 -Y 0
        -J shoulder_pan_joint 1.57 -J shoulder_lift_joint -1.57 -J elbow_joint 1.57" respawn="false" output="screen" />

  <rosparam command="load" file="$(find ur_gazebo)/config/ur10e_controllers.yaml"/>
    <!-- <rosparam command="load" file="$(find ur_gazebo)/controller/arm_controller_ur10.yaml"/> -->
  <!-- <include file="$(find ur_gazebo)/launch/controller_utils.launch"/> -->

  <!-- Part -->
  <group ns="part">
    <node name="spawn_part" pkg="gazebo_ros" type="spawn_model"
	  args="-file $(find agimus_demos)/ur10/pointing/urdf/$(arg part).urdf -urdf
		-model part $(arg part_pose)" />
  </group>

</launch>