Switch from joint_state_publisher to jsp_gui

oxin-ros · Apr 5, 2020 · c4803e7 · c4803e7
1 parent 49e627b
commit c4803e7
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/test/launch/view_urdf.launch b/test/launch/view_urdf.launch
@@ -1,12 +1,11 @@
+<?xml version="1.0"?>
 <launch>
 
-  <!-- load robot -->
+  <!-- Load robot -->
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find urdf_geometry_parser)/test/urdf/four_wheel_steering.urdf.xacro'" />
 
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
-  <param name="use_gui" value="true" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node name="rviz" pkg="rviz" type="rviz" required="true" />
 </launch>
diff --git a/test/urdf_geometry_parser.test b/test/urdf_geometry_parser.test
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <launch>
   <param name="robot_description"
        command="$(find xacro)/xacro --inorder '$(find urdf_geometry_parser)/test/urdf/four_wheel_steering.urdf.xacro'" />