48 lines
1.9 KiB
XML
48 lines
1.9 KiB
XML
<launch>
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<arg name="model" default="burger"/>
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<arg name="gui" default="true"/>
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<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
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<arg name="x_pos" default="2.0"/>
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<arg name="y_pos" default="0.5"/>
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<arg name="z_pos" default="0.1"/>
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<param name="robot_description" command="$(find xacro)/xacro $(find myrobot_pkg)/marcos/robot.xacro"/>
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<param name="use_gui" value="$(arg gui)"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
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<arg name="paused" value="false"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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</include>
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
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args="-urdf -model myrobot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description"/>
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<include file="$(find turtlebot3_slam)/launch/turtlebot3_gmapping.launch">
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<arg name="model" value="$(arg model)"/>
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<arg name="configuration_basename" value="$(arg configuration_basename)"/>
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</include>
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<include file="$(find turtlebot3_navigation)/launch/move_base.launch">
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<arg name="model" value="$(arg model)" />
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<arg name="move_forward_only" value="false"/>
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</include>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
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<node pkg="myrobot_pkg" type="controller.py" name="nav_controller" output="screen">
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<rosparam param="waypoints">
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[
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[-1.5, 0.5],
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[0.8, 2.0],
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[2.0, -0.5]
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]
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</rosparam>
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</node>
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</launch> |