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15 lines
597 B
XML
15 lines
597 B
XML
<launch>
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<!-- Map server -->
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<node name="map_server" pkg="map_server" type="map_server" args="$(find wpr1_tutorials)/maps/map.yaml"/>
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<!-- RViz and TF -->
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<arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/editwaypoints.rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /map /base_link 100"/>
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<!-- Map tools -->
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<node pkg="waterplus_map_tools" type="wp_edit_node" name="wp_edit_node" output="screen"/>
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</launch>
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