43 lines
1.4 KiB
XML
43 lines
1.4 KiB
XML
<launch>
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<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
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<arg name="multi_robot_name" default=""/>
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<param name="/use_sim_time" value="true"/>
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<arg name="move_forward_only" default="false"/>
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<arg name="open_rviz" default="true"/>
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<!-- TurtleBot3 -->
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<include file="/home/joy/catkin/src/turtlebot3/turtlebot3_bringup/launch/turtlebot3_remote.launch">
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<arg name="model" value="$(arg model)" />
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</include>
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<!-- Run Gazebo with turtlebot -->
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<include file="/home/joy/catkin/src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_world.launch"/>
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<!-- Load existing map -->
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<node name="map_server" pkg="map_server" type="map_server" args="/home/joy/catkin/src/ch7_pkg/map.yaml" />
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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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<!-- move_base -->
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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="$(arg move_forward_only)"/>
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</include>
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<!-- AMCL -->
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<include file="$(find turtlebot3_navigation)/launch/amcl.launch"/>
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<!-- rviz -->
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<group if="$(arg open_rviz)">
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<node pkg="rviz" type="rviz" name="rviz" required="true"
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args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
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</group>
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</launch> |