talos_spawn.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <arg name="robot"  default="full_v2"/>
  <arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>

  <!-- PAL Hardware gazebo config -->
  <include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
    <arg name="robot" value="$(arg robot)" />
    <arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
  </include>


  <!-- PID gains -->
  <rosparam command="load" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>

  <!-- Spawn robot in Gazebo -->
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
    args="-urdf -param robot_description $(arg gzpose) -model talos" />

  <node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
  <node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
</launch>