Add config file to set Gazeo publish_rate.

diff --git a/q2d_description/CMakeLists.txt b/q2d_description/CMakeLists.txt
index 58f2448..078d813 100644 (file)
--- a/q2d_description/CMakeLists.txt
+++ b/q2d_description/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
-install(DIRECTORY launch urdf meshes rviz
+install(DIRECTORY config launch urdf meshes rviz
        DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/q2d_description/config/gazebo.yaml b/q2d_description/config/gazebo.yaml
new file mode 100644 (file)
index 0000000..6aeb5e8
--- /dev/null
+++ b/q2d_description/config/gazebo.yaml
@@ -0,0 +1,3 @@
+gazebo:
+        ros__parameters:
+                publish_rate: 1000.0

diff --git a/q2d_description/launch/gazebo.launch.xml b/q2d_description/launch/gazebo.launch.xml
index 1d74ea1..afe8c63 100644 (file)
--- a/q2d_description/launch/gazebo.launch.xml
+++ b/q2d_description/launch/gazebo.launch.xml
@@ -10,6 +10,7 @@
                <arg name="gui" value="$(var gui)"/>
                <arg name="use_sim_time" value="$(var use_sim_time)"/>
                <arg name="world" value="worlds/empty_sky.world" />
+               <arg name="extra_gazebo_args" value=" --ros-args --params-file $(find-pkg-share q2d_description)/config/gazebo.yaml"/>
        </include>
 
        <include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml">