gazebo_planner_MPC_BC_operational_AD_pick.launch

<?xml version="1.0"?>

<launch>
    <!-- set global arguments -->
    <arg name="robot_name" default="chonk"/>
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find chonk_pushing)/urdf/chonk_pushing.urdf.xacro'"/>
    <param name="robot_description_wholebody" command="$(find xacro)/xacro --inorder '$(find chonk_pushing)/urdf/chonk_pushing_wholebody.urdf'"/>


    <!-- Loads the Gazebo world -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find chonk_pushing)/world/chonk_pick.world"/>
        <arg name="debug" value="false" />
        <arg name="gui" value="true" />
        <arg name="gui_required" value="true"/>
        <arg name="paused" value="false"/>
        <arg name="use_sim_time" value="true"/>
        <arg name="recording" value="false"/>
    </include>

    <!-- Run a python script to 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 $(arg robot_name) -param robot_description -x 0 -y 0 -z 0"
    />
    <!-- Load joint controller configurations from YAML file to parameter server -->
    <rosparam
        file="$(find chonk_gazebo)/config/chonk_pushing_control_pick.yaml"
        command="load"
        ns="$(arg robot_name)"
    />

    <!-- load the controllers -->
    <node
        name="controller_spawner"
        pkg="controller_manager"
        type="spawner"
        respawn="false"
        output="screen"
        ns="/$(arg robot_name)"
        args="/$(arg robot_name)/joint_state_controller"
    />

    <!-- convert joint states to TF transforms -->
    <node
        name="robot_state_publisher"
        pkg="robot_state_publisher"
        type="robot_state_publisher"
        respawn="false"
        output="screen"
    >
        <remap from="/joint_states" to="/$(arg robot_name)/joint_states" />
    </node>

    <!-- Spawn position controller -->
    <node
        name="position_controller"
        pkg="controller_manager"
        type="spawner"
        ns="/$(arg robot_name)"
        args="/$(arg robot_name)/streaming_controller"
        respawn="false"
        output="screen"
    />

    <!-- Spawn velocity controller -->
    <node
        name="velocity_controller"
        pkg="controller_manager"
        type="spawner"
        ns="/$(arg robot_name)"
        args="/$(arg robot_name)/donkey_velocity_controller"
        respawn="false"
        output="screen"
    />


</launch>