pji_desktop_script/simulation/catkin_ws/src/SimulationEnvs/launch/env_node.launch

<?xml version="1.0" encoding="utf-8"?>
<launch>
  <param command="$(find xacro)/xacro $(find SimulationEnvs)/urdf/robot_integrate.urdf.xacro" name="robot_description"/>
  <env name="GAZEBO_MODEL_PATH" value="$(find SimulationEnvs)/models:$(optenv GAZEBO_MODEL_PATH)"/>
  <arg default="false" name="debug"/>
  <arg default="true" name="gui"/>
  <arg default="false" name="headless"/>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="world_name" value="$(find SimulationEnvs)/worlds/map.world"/>
  </include>
  <node args="-param robot_description -urdf -model mycar -x 0.25328280071991505 -y -0.5090447876812273 -z 0.0 -R 0 -P 0 -Y -1.5138750335598075" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
</launch>