<?xml version="1.0"?>
<launch>
  <!--<arg name="world" default="$(find livox_laser_simulation)/worlds/standardrobots_factory.world" />-->
  <arg name="livox_sensor" default="$(find livox_laser_simulation)/urdf/livox_avia.xacro" />

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
	<arg name="world_name" default="worlds/empty.world"/> 
	<arg name="paused" value="false"/>
	<arg name="use_sim_time" value="true"/>
	<arg name="gui" value="true"/>
	<arg name="headless" value="false"/>
	<arg name="debug" value="false"/>
	<arg name="verbose" value="true"/>
  </include>
  
  <param name="sensor_description" command="$(find xacro)/xacro --inorder $(arg livox_sensor)" />
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model livox_lidar -param sensor_description" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find livox_laser_simulation)/rviz/livox_simulation.rviz"/>
</launch>
