<launch>
  <env name="GAZEBO_RESOURCE_PATH" value="$(find turtlebot3_gazebo)/models/autorace/ground_picture" />

  <arg name="x_pos" default="0.8"/>
  <arg name="y_pos" default="-1.747"/>
  <arg name="z_pos" default="0"/>  
  <arg name="yaw"   default=" 0.0"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_autorace_2020.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"/>
  </include>  

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace_2020.urdf.xacro" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model autorace -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -Y $(arg yaw) -param robot_description" />
   

</launch>