robot.launch

<?xml version="1.0"?>

<launch>

    <!--gazebo arguments-->
    <arg name="world" default="empty"/>
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>

    <!--world files-->

    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="../worlds/world/robot_world"/>
        <!--arg name="world_name" value="$(find mybot_gazebo)/worlds/turtlebot_playground.world"/-->
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="headless" value="$(arg headless)"/>
        <arg name="debug" value="$(arg debug)"/>
    </include>

    <!--error when try to create urdf file
        so I create urdf file manualy 
        I will laod urdf file directry-->
    <!--param name="robot_description" command="$(find xacro)/xacro '../../robot_description/urdf/robot.xacro'"/-->

    <!--You can use the rosparam command to load 
        the contents of the URDF file into 
        the robot_description parameter-->

    <!-- Load URDF Model  -->
    <rosparam command="load" file="$(find robot_description)/urdf/robot.urdf" param="robot_description"/>


    <node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model robot"/>

    <!--send fake joint values-->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <param name="use_gui" value="false"/>
    </node>

    <!--send robot state to tf-->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" respawn="false"/>

</launch>