From 9b4340b16f4baf2c3f96c11cc75c6a25b7a3ac5b Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Tue, 1 Aug 2023 11:39:38 -0400
Subject: [PATCH] New Spawn URDF Launch File

---
 gazebo_ros/launch/spawn_urdf.launch.py | 32 ++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 gazebo_ros/launch/spawn_urdf.launch.py

diff --git a/gazebo_ros/launch/spawn_urdf.launch.py b/gazebo_ros/launch/spawn_urdf.launch.py
new file mode 100644
index 000000000..936cfeae7
--- /dev/null
+++ b/gazebo_ros/launch/spawn_urdf.launch.py
@@ -0,0 +1,32 @@
+# Copyright 2023 Metro Robots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    ld.add_action(DeclareLaunchArgument('entity',
+                                        description='The name of the object in gazebo',
+                                        default_value='robot'))
+    ld.add_action(Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        name='urdf_spawner',
+        output='screen',
+        arguments=["-topic", "/robot_description", "-entity", LaunchConfiguration('entity')],
+    ))
+    return ld