gazebo.launch

<?xml	version="1.0" encoding="UTF-8"?>
<launch>
		<!--	these	are	the	arguments	you	can	pass	this	launch	file,	for	example	
paused:=true	-->
		<arg	name="paused"	default="true"	/>
		<arg	name="use_sim_time"	default="false"	/>
		<arg	name="gui"	default="true"	/>
		<arg	name="headless"	default="false"	/>
		<arg	name="debug"	default="false"	/>
		<!--	We	resume	the	logic	in	empty_world.launch,	changing	only	the	name	of	the	
world	to	be	launched	-->
		<include	file="$(find	gazebo_ros)/launch/empty_world.launch">
				<arg	name="world_name"	value="$(find	urdf_tutorial)/robot.world"	/>
				<arg	name="debug"	value="$(arg	debug)"	/>
				<arg	name="gui"	value="$(arg gui)"	/>
				<arg	name="paused"	value="$(arg	paused)"	/>
				<arg	name="use_sim_time"	value="$(arg	use_sim_time)"	/>
				<arg	name="headless"	value="$(arg	headless)"	/>
		</include>
		<!--	Load	the	URDF	into	the	ROS	Parameter	Server	-->
		
		<param	name="robot_description"	command="$(find	xacro)/xacro.py $(find urdf_tutorial)/wheel.xacro"/>
                <rosparam file="$(find urdf_tutorial)/control.yaml" command="load"/>
               
			Run	a	python	script	to	the	send	a	service	call	to	gazebo_ros	to	spawn	a	
URDF	robot	
		<node	name="urdf_spawner" pkg="gazebo_ros"	type="spawn_model"	respawn="false"	
output="screen"	args="-urdf	-model	robot1	-param robot_description"	/>

<node name="controller_spawn" pkg="controller_manager" type="spawner" output="screen" respawn="false"
   args="/joint_state_controller
         /imu_joint1_controller
        /imu_joint2_controller
        /imu_joint3_controller">
</node>
<node name="robot_states" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
</node>

		<node	name="urdf_spawner1" 	pkg="gazebo_ros"	type="spawn_model"	respawn="false"	
output="screen"	args="-urdf	-model	robot2	-file $(find	urdf_tutorial)/ball.urdf"	/>
</launch>