Renders on both GZ and RVIZ

fisherleeyhl77 · Jun 21, 2017 · 2122c0d · 2122c0d
1 parent 43fac6c
commit 2122c0d
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Showing 4 changed files with 137 additions and 649 deletions.
diff --git a/prius_description/CMakeLists.txt b/prius_description/CMakeLists.txt
@@ -4,3 +4,5 @@ project(prius_description)
 find_package(catkin REQUIRED)
 
 catkin_package()
+
+install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/prius_description/launch/gazebo.launch b/prius_description/launch/gazebo.launch
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="model" default="$(find prius_description)/urdf/prius.urdf"/>
+
+  <param name="robot_description" textfile="$(arg model)"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="verbose" value="true"/>
+  </include>
+
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model prius"/>
+</launch>