mirror of
https://github.com/6-robot/waterplus_map_tools.git
synced 2025-09-15 12:59:09 +08:00
24 lines
989 B
XML
24 lines
989 B
XML
<launch>
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<master auto="start"/>
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<!-- Run WPR1 nav app-->
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<include file="$(find wpr1_tutorials)/launch/nav.launch" />
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<node pkg="wpr1_behaviors" type="wpr1_grab_server" name="wpr1_grab_server" />
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<node pkg="wpr1_behaviors" type="wpr1_pass_server" name="wpr1_pass_server" />
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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/robot/waypoints.xml"/>
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</node>
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<!-- Nav remote -->
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<node pkg="waterplus_map_tools" type="wp_nav_remote" name="wp_nav_remote" output="screen"/>
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<!-- Odom report -->
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<node pkg="waterplus_map_tools" type="wp_nav_odom_report" name="wp_nav_odom_report" output="log"/>
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<!-- <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 map odom 100" /> -->
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<!-- <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0 0 0 0 1 odom base_footprint 100" /> -->
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</launch>
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