28 lines
1.0 KiB
XML
28 lines
1.0 KiB
XML
<launch>
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<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
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<arg name="multi_robot_name" default=""/>
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<!-- loading the world -->
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<include file="$(find turtlebot3_gazebo)/launch/turtlebot3_house_sky.launch"/>
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<!-- Run the map server -->
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<arg name="map_file" default="$(find ch5_pkg)/mymap.yaml"/>
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<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
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<!-- TurtleBot3 -->
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<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
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<arg name="model" value="$(arg model)" />
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</include>
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<!-- rviz -->
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<node pkg="rviz" type="rviz" name="rviz" required="true"
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args="-d $(find turtlebot3_description)/rviz/model.rviz"/>
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<node name="tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /odom 100"/>
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<!-- Publish a static transformation between /odom and /map
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<node name="tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /odom 100" />
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-->
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</launch> |