gazebo_world_editor.launch

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

  <arg name="GAZEBO_MODEL_PATH" default=""/>
  <arg name="GAZEBO_RESOURCE_PATH" default=""/>

  <env name="GAZEBO_MODEL_PATH" value="$(find rcprg_gazebo_utils)/data/gazebo/models:$(arg GAZEBO_MODEL_PATH)" />
  <env name="GAZEBO_RESOURCE_PATH" value="$(find rcprg_gazebo_utils)/data/gazebo:$(arg GAZEBO_RESOURCE_PATH)" />

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="gui" default="true"/>
  <arg name="verbose" default="true"/>
  <arg name="debug" default="false"/>
  <arg name="world_name" default="worlds/blank.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->

  <arg name="use_kinect" default="false"/>

  <arg name="ORO_LOGLEVEL" default="5"/>

  <!-- set command arguments -->
  <arg unless="$(arg paused)" name="command_arg1" value=""/>
  <arg     if="$(arg paused)" name="command_arg1" value="-u"/>
  <arg unless="$(arg verbose)" name="command_arg3" value=""/>
  <arg     if="$(arg verbose)" name="command_arg3" value="--verbose"/>
  <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
  <arg     if="$(arg debug)" name="script_type" value="debug"/>

  <!-- start gazebo server-->
  <node pkg="gazebo_ros" type="$(arg script_type)" name="world_editor" respawn="false" output="screen"
   args="$(arg command_arg1) $(arg command_arg3) $(arg world_name) -e ode -u" >
    <env name="ORO_LOGLEVEL" value="$(arg ORO_LOGLEVEL)"/>
  </node>

  <!-- start gazebo client -->
  <group if="$(arg gui)">
    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen" args="$(arg command_arg3)" />
  </group>


  <!-- load robot description-->
  <param name="/use_sim_time" value="true"/>

</launch>