Franka - Robot - Ros - Customization(定制)

franka_gazebo的启动文件包含大量参数，您可以使用这些参数自定义行为 的模拟。例如，要在一个模拟中生成两只熊猫，您可以使用以下方法：

<?xml version="1.0"?>
<launch>

  <include file="$(find gazebo_ros)/launch/empty_world.launch" >
    <!-- Start paused, simulation will be started, when Pandas were loaded -->
    <arg name="paused" value="true"/>
    <arg name="use_sim_time" value="true"/>
  </include>

  <group ns="panda_1">
    <include file="$(find franka_gazebo)/launch/panda.launch">
      <arg name="arm_id"     value="panda_1" />
      <arg name="y"          value="-0.5" />
      <arg name="controller" value="cartesian_impedance_example_controller" />
      <arg name="rviz"       value="false" />
      <arg name="gazebo"     value="false" />
      <arg name="paused"     value="true" />
    </include>
  </group>

  <group ns="panda_2">
    <include file="$(find franka_gazebo)/launch/panda.launch">
      <arg name="arm_id"     value="panda_2" />
      <arg name="y"          value="0.5" />
      <arg name="controller" value="force_example_controller" />
      <arg name="rviz"       value="false" />
      <arg name="gazebo"     value="false" />
      <arg name="paused"     value="false" />
    </include>
  </group>

</launch>

若要查看支持哪些参数，请使用：

roslaunch franka_gazebo panda.launch --ros-args