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>
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<master auto="start"/>
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<!--- Run WPV3 nav app-->
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<include file="$(find wpv3_tutorials)/launch/nav_app.launch" />
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<!-- RViz and TF tree -->
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<arg name="model" default="$(find wpv3_bringup)/urdf/wpv3.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="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/master/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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