<?xml version="1.0"?>
<launch>
  <!-- 参数服务器加载URDF -->
  <param name="robot_description" command="$(find xacro)/xacro '$(find four_wheel_robot)/urdf/final_robot.urdf.xacro'" />
  
  <!-- 启动Gazebo -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <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"/>
    <arg name="world_name" value="worlds/empty.world"/>
  </include>

  <!-- 在Gazebo中生成机器人 -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 
        args="-param robot_description -urdf -model final_robot -x 0 -y 0 -z 0.1 -Y 0"
        respawn="false" output="screen" />
  
  <!-- 发布机器人状态 -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  
  <!-- 发布静态TF -->
  <node name="static_transform_publisher" pkg="tf" type="static_transform_publisher" 
        args="0 0 0 0 0 0 map odom 100" />
  
  <!-- 圆形轨迹控制器 -->
  <node name="final_circle_controller" pkg="four_wheel_robot" type="final_circle_controller.py" 
        output="screen" />

</launch>