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feat: launch file

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This commit is contained in:
joyHuang 2025-12-10 14:56:09 +09:00
parent 0ed7aab229
commit 4c1356ea0d
Signed by: joy
GPG Key ID: FFD99A1CA77D33C8
1 changed files with 8 additions and 1 deletions
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9
myrobot_pkg/launch/xacro.launch
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@ -5,7 +5,8 @@
<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 urdf_tutorial)/urdf.rviz"/>
<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz"/> -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_slam)/rviz/turtlebot3_gmapping.rviz"/>
<arg name="x_pos" default="2.0"/>
<arg name="y_pos" default="0.5"/>
@ -28,4 +29,10 @@
-z $(arg z_pos)
-param robot_description"/>
<!-- SLAM -->
<include file="$(find turtlebot3_slam)/launch/turtlebot3_gmapping.launch">
<arg name="model" value="myrobot"/>
<arg name="configuration_basename" value="$(arg configuration_basename)"/>
</include>
</launch>