example.launch

<!-- Example script for gazebo_tf_injector. Allows to control the joint states
of a simple robot via a GUI. The robot configuration is displayed in Rviz and in
Gazebo at the same time. -->
<launch>

    <!-- Specify the robot model file. -->
    <arg name="urdf" default="$(find gazebo_tf_injector)/models/robot.urdf"/>

    <!-- Upload the robot description to the ROS parameter server. -->
    <param name="robot_description" textfile="$(arg urdf)"/>

    <!-- Start the GUI that lets the user control the states of the individual
    joints of the robot. -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <param name="use_gui" value="true"/>
    </node>

    <!-- Use the robot description and the joint states to compute the poses of
    the robot links. -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

    <!-- Display the robot configuration in Rviz. -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find gazebo_tf_injector)/config/example.rviz" required="true"/>
    
    <!-- Start the Gazebo simulator. -->
    <node name="gazebo" pkg="gazebo_ros" type="gazebo" args="worlds/empty.world" required="true"/>
    
    <!-- Upload the robot model to Gazebo and run the plugin that injects the
    ROS TF poses into the Gazebo model. -->
    <node name="upload_model" pkg="gazebo_tf_injector" type="upload_model" args="$(arg urdf)"/>

</launch>