mirror of
https://github.com/6-robot/waterplus_map_tools.git
synced 2025-09-15 12:59:09 +08:00
26 lines
889 B
XML
26 lines
889 B
XML
<launch>
|
|
<master auto="start"/>
|
|
|
|
<!--- Run WPR1 nav app-->
|
|
<include file="$(find wpr1_remote)/launch/nav_app.launch" />
|
|
|
|
<!-- RViz and TF tree -->
|
|
<arg name="model" default="$(find wpr1_bringup)/urdf/wpr1.urdf"/>
|
|
<arg name="gui" default="true" />
|
|
<arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/nav.rviz" />
|
|
|
|
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
|
|
<param name="use_gui" value="$(arg gui)"/>
|
|
|
|
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
|
|
|
<!-- Map tools -->
|
|
<node pkg="waterplus_map_tools" type="wp_manager" name="wp_manager" output="screen">
|
|
<param name="load" type="string" value="/home/master/waypoints.xml"/>
|
|
</node>
|
|
|
|
<!-- WP_navi_server -->
|
|
<node pkg="waterplus_map_tools" type="wp_navi_server" name="wp_navi_server" output="screen"/>
|
|
|
|
</launch>
|