From 4c1356ea0d3a952f5326570eb250600062d1b2f1 Mon Sep 17 00:00:00 2001
From: joyHuang <joy224961632@gmail.com>
Date: Wed, 10 Dec 2025 14:56:09 +0900
Subject: [PATCH] feat: launch file

---
 myrobot_pkg/launch/xacro.launch | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/myrobot_pkg/launch/xacro.launch b/myrobot_pkg/launch/xacro.launch
index ead621b..9a4e930 100644
--- a/myrobot_pkg/launch/xacro.launch
+++ b/myrobot_pkg/launch/xacro.launch
@@ -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>
\ No newline at end of file