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https://github.com/6-robot/wpb_home.git
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31 lines
1.3 KiB
XML
31 lines
1.3 KiB
XML
<launch>
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
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<arg name="gui" default="true" />
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<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/sensor.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<!--- Run Rplidar -->
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<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
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<param name="serial_port" type="string" value="/dev/rplidar"/>
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<param name="serial_baudrate" type="int" value="115200"/>
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<param name="frame_id" type="string" value="laser"/>
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<param name="inverted" type="bool" value="false"/>
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<param name="angle_compensate" type="bool" value="true"/>
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</node>
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<!-- wpb_home core-->
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<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
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<param name="serial_port" type="string" value="/dev/ftdi"/>
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<rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
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</node>
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</launch>
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