gazebo.launch

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

  <!--robot pose -->
    <arg name="x" default="10"/>
    <arg name="y" default="10"/>
    <arg name="z" default="1.25"/>
    <arg name="roll" default="0"/>
    <arg name="pitch" default="0"/>
    <arg name="yaw" default="0"/>

  <!--send urdf to param server -->
  <param name="robot_description" textfile="$(find steerbot)/urdf/steerbot.urdf" />

  <!--send ackerman plugin params to param server-->
  <rosparam file="$(find steerbot)/config/ackermansteer.yaml" command="load" ns="/steerbot"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
       <param name="use_gui" value="false"/>
  </node> 

  <node name="robot_state_publisher" pkg="robot_state_publisher" 
        type="robot_state_publisher" output="screen">
	<param name="publish_frequency" type="double" value="50.0"/>
  </node>
 
  <!--node name="controller_manager" pkg="controller_manager" type="spawner" ns="/"
        args="joint_state_controller mobile_base_controller"/-->
 
  <node name="odometry_publisher" pkg="odometry_publisher_tutorial" type="odometry_publisher"/>

 <!-- Launch Gazebo World -->

 <include file="$(find gazebo_ros)/launch/empty_world.launch" >

   <arg name="world_name" value="$(find steerbot)/world/cityy.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/> <!-- Inert - see gazebo_ros_pkgs issue #491 -->
    <arg name="recording" value="false"/>
    <arg name="debug" value="false"/>
  </include>

    <!-- Spawn My Robot -->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false"  output="screen"
    args="-urdf -param robot_description -model steerbot
    -x $(arg x) -y $(arg y) -z $(arg z)
    -R $(arg roll) -P $(arg pitch) -Y $(arg yaw)"/>

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find steerbot)/rviz/ackermanvehicle.rviz"/>
</launch>