ROS中spawn_model方式加载xacro文件，设置模型的位置(xyz,rpy)

例如加载turtlebot机器人launch文件如下：(在gazebo仿真中最后都是通过这种方式加载xacro文件的)

<launch>
  <arg name="base"/>
  <arg name="stacks"/>
  <arg name="3d_sensor"/>

  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'"/>
  <param name="robot_description" command="$(arg urdf_file)"/>

  <!-- Gazebo model spawner -->
  <node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
        args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base -P 1 "/>

  <!-- Velocity muxer -->
  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux"
        args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
  </node>

  <!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
  <include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/>
</launch>

当设置xyz时，如下：

<node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
        args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base -x ${arg value1} -y ${arg value2} -z ${arg value3}"/>

当设置rpy(roll/pitch/yaw)时,如下：

<node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
        args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base -R ${arg value1} -P ${arg value2} -Y ${arg value3}"/>