mirror of
https://github.com/6-robot/waterplus_map_tools.git
synced 2025-09-15 12:59:09 +08:00
66 lines
3.0 KiB
XML
66 lines
3.0 KiB
XML
<launch>
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<master auto="start"/>
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<!-- wpb_ai core-->
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<node pkg="wpb_ai_bringup" type="wpb_ai_core" name="wpb_ai_core" output="screen">
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<param name="serial_port" type="string" value="/dev/ftdi"/>
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<rosparam file="$(find wpb_ai_bringup)/config/wpb_ai.yaml" command="load" />
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</node>
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<!--- Run Rplidar -->
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<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
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<param name="serial_port" type="string" value="/dev/rplidar"/>
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<param name="serial_baudrate" type="int" value="115200"/>
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<param name="frame_id" type="string" value="laser"/>
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<param name="inverted" type="bool" value="false"/>
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<param name="angle_compensate" type="bool" value="true"/>
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<remap from="scan" to="scan_raw"/>
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</node>
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<!-- Run lidar filter -->
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<node pkg="wpb_ai_bringup" type="wpb_ai_lidar_filter" name="wpb_ai_lidar_filter">
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<param name="pub_topic" value="/scan"/>
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</node>
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<!-- Run the map server -->
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<node name="map_server" pkg="map_server" type="map_server" args="$(find wpb_ai_tutorials)/maps/map.yaml"/>
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<!--- Run AMCL -->
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<include file="$(find wpb_ai_tutorials)/nav_lidar/amcl_omni.launch" />
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<!--- Run move base -->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find wpb_ai_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
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<param name="base_global_planner" value="global_planner/GlobalPlanner" />
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<param name="use_dijkstra" value="true"/>
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<param name="base_local_planner" value="wpb_local_planner/WpbLocalPlanner" />
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<param name= "controller_frequency" value="10" type="double"/>
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<param name= "oscillation_timeout" value="8" type="double"/>
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<param name= "oscillation_distance" value="0.2" type="double"/>
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</node>
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<!-- RViz and TF tree -->
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<arg name="model" default="$(find wpb_ai_bringup)/urdf/wpb_ai_mani.urdf"/>
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<arg name="gui" default="true" />
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<arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/nav.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!-- Map tools -->
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<node pkg="waterplus_map_tools" type="wp_manager" name="wp_manager" output="screen">
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<param name="load" type="string" value="/home/nvidia/waypoints.xml"/>
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</node>
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<!-- WP_navi_server -->
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<node pkg="waterplus_map_tools" type="wp_navi_server" name="wp_navi_server" output="screen"/>
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</launch>
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