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fix: gemini complete

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This commit is contained in:
joyHuang 2025-12-10 23:19:27 +09:00
parent 7f33c4852e
commit 33ded227fa
Signed by: joy
GPG Key ID: FFD99A1CA77D33C8
1 changed files with 10 additions and 9 deletions
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19
myrobot_pkg/launch/xacro.launch
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@ -1,22 +1,16 @@
<launch>
<arg name="model" default="myrobot"/>
<arg name="gui" default="true"/>
<arg name="model" default="burger"/> <arg name="gui" default="true"/>
<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
<arg name="x_pos" default="2.0"/>
<arg name="y_pos" default="0.5"/>
<arg name="z_pos" default="0.1"/>
<param name="robot_description" command="$(find xacro)/xacro $(find myrobot_pkg)/marcos/robot.xacro"/>
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_slam)/rviz/turtlebot3_gmapping.rviz"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
<arg name="paused" value="false"/>
@ -39,6 +33,13 @@
<arg name="configuration_basename" value="$(arg configuration_basename)"/>
</include>
<!-- Turtlebot3 simulation -->
<include file="$(find turtlebot3_gazebo)/launch/turtlebot3_simulation.launch"/>
<include file="$(find turtlebot3_navigation)/launch/move_base.launch">
<arg name="model" value="$(arg model)" />
<arg name="move_forward_only" value="false"/>
</include>
<node pkg="myrobot_pkg" type="controller.py" name="nav_controller" output="screen" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
</launch>