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39 lines
1.5 KiB
39 lines
1.5 KiB
<?xml version="1.0"?>
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<launch>
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<!-- For SLAM -->
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<arg name="robot_name" default="/"/>
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<arg name="rviz" default="false"/>
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<arg if="$(eval arg('robot_name') == '/')" name="frame_prefix" value="" />
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<arg unless="$(eval arg('robot_name') == '/')" name="frame_prefix" value="$(arg robot_name)/" />
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<node pkg="rostopic" type="rostopic" name="nav_status" output="screen" args="pub nav/status std_msgs/Bool 'data: True'" />
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<!-- Start Move Base and GMapping-->
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<group ns="$(arg robot_name)">
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<include file="$(find champ_bringup)/launch/include/velocity_smoother.launch" >
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<arg name="raw_cmd_vel_topic" value="nav/cmd_vel/raw"/>
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<arg name="smooth_cmd_vel_topic" value="nav/cmd_vel"/>
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<arg name="robot_cmd_vel_topic" value="nav/cmd_vel"/>
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<arg name="node_name" value="velocity_smoother"/>
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</include>
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<include file="$(find mors)/launch/include/gmapping.launch">
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<arg name="frame_prefix" value="$(arg frame_prefix)"/>
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</include>
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<!-- Calls navigation stack packages -->
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<include file="$(find mors)/launch/include/move_base.launch">
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<arg name="frame_prefix" value="$(arg frame_prefix)"/>
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<arg name="robot_name" value="$(arg robot_name)"/>
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</include>
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<node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz"
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args="-d $(find champ_navigation)/rviz/navigate.rviz -f $(arg frame_prefix)map"
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output="screen"/>
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</group>
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</launch> |