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https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
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59 lines
2.7 KiB
XML
59 lines
2.7 KiB
XML
<launch>
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<arg name="first_tb3" default="tb3_0"/>
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<arg name="second_tb3" default="tb3_1"/>
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<arg name="third_tb3" default="tb3_2"/>
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<arg name="first_tb3_x_pos" default="-7.0"/>
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<arg name="first_tb3_y_pos" default="-1.0"/>
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<arg name="first_tb3_z_pos" default=" 0.0"/>
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<arg name="first_tb3_yaw" default=" 0.0"/>
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<arg name="second_tb3_x_pos" default=" 7.0"/>
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<arg name="second_tb3_y_pos" default="-1.0"/>
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<arg name="second_tb3_z_pos" default=" 0.0"/>
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<arg name="second_tb3_yaw" default=" 0.0"/>
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<arg name="third_tb3_x_pos" default=" 0.5"/>
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<arg name="third_tb3_y_pos" default=" 3.0"/>
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<arg name="third_tb3_z_pos" default=" 0.0"/>
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<arg name="third_tb3_yaw" default=" 0.0"/>
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<group ns="$(arg first_tb3)/map_merge">
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<param name="init_pose_x" value="$(arg first_tb3_x_pos)"/>
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<param name="init_pose_y" value="$(arg first_tb3_y_pos)"/>
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<param name="init_pose_z" value="$(arg first_tb3_z_pos)"/>
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<param name="init_pose_yaw" value="$(arg first_tb3_yaw)" />
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</group>
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<group ns="$(arg second_tb3)/map_merge">
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<param name="init_pose_x" value="$(arg second_tb3_x_pos)"/>
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<param name="init_pose_y" value="$(arg second_tb3_y_pos)"/>
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<param name="init_pose_z" value="$(arg second_tb3_z_pos)"/>
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<param name="init_pose_yaw" value="$(arg second_tb3_yaw)" />
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</group>
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<group ns="$(arg third_tb3)/map_merge">
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<param name="init_pose_x" value="$(arg third_tb3_x_pos)"/>
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<param name="init_pose_y" value="$(arg third_tb3_y_pos)"/>
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<param name="init_pose_z" value="$(arg third_tb3_z_pos)"/>
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<param name="init_pose_yaw" value="$(arg third_tb3_yaw)" />
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</group>
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<node pkg="multirobot_map_merge" type="map_merge" respawn="false" name="map_merge" output="screen">
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<param name="robot_map_topic" value="map"/>
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<param name="robot_namespace" value="tb3"/>
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<param name="merged_map_topic" value="map"/>
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<param name="world_frame" value="map"/>
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<param name="known_init_poses" value="true"/>
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<param name="merging_rate" value="0.5"/>
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<param name="discovery_rate" value="0.05"/>
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<param name="estimation_rate" value="0.1"/>
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<param name="estimation_confidence" value="1.0"/>
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</node>
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<node pkg="tf" type="static_transform_publisher" name="world_to_$(arg first_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg first_tb3)/map 100"/>
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<node pkg="tf" type="static_transform_publisher" name="world_to_$(arg second_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg second_tb3)/map 100"/>
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<node pkg="tf" type="static_transform_publisher" name="world_to_$(arg third_tb3)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg third_tb3)/map 100"/>
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</launch>
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<!-- http://wiki.ros.org/multirobot_map_merge --> |