mirror of
https://github.com/6-robot/wpb_home.git
synced 2025-09-15 12:58:59 +08:00
167 lines
9.1 KiB
XML
167 lines
9.1 KiB
XML
<launch>
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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="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
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</node>
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<!--- Run Rplidar -->
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<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
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<param name="serial_port" type="string" value="/dev/rplidar"/>
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<param name="serial_baudrate" type="int" value="115200"/>
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<param name="frame_id" type="string" value="laser"/>
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<param name="inverted" type="bool" value="false"/>
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<param name="angle_compensate" type="bool" value="true"/>
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<remap from="scan" to="scan_raw"/>
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</node>
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<!-- Run lidar filter -->
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<node pkg="wpb_home_bringup" type="wpb_home_lidar_filter" name="wpb_home_lidar_filter">
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<param name="pub_topic" value="/scan"/>
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</node>
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<!-- Run the map server -->
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<node name="map_server" pkg="map_server" type="map_server" args="$(find wpb_home_tutorials)/maps/map.yaml"/>
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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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<!--- Run AMCL -->
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<include file="$(find wpb_home_tutorials)/nav_lidar/amcl_omni.launch" />
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<!--- Run move base -->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_planner_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="wpbh_local_planner/WpbhLocalPlanner" />
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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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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
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<arg name="gui" default="false" />
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<param name="robot_description" command="$(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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<!--- Run servers -->
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<include file="$(find wpb_home_behaviors)/launch/all_servers.launch" />
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<!--- speech recognition -->
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<include file="$(find xfyun_waterplus)/launch/iat_cn.launch" />
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<!-- Run xfyun TTS -->
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<node pkg="xfyun_waterplus" type="tts_node" name="xfyun_tts_node" />
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<!-- Run soundplay -->
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<node name="soundplay_node" pkg="sound_play" type="soundplay_node.py"/>
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<!--- Run Kinect -->
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<arg name="base_name" default="kinect2"/>
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<arg name="sensor" default=""/>
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<arg name="publish_tf" default="false"/>
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<arg name="base_name_tf" default="$(arg base_name)"/>
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<arg name="fps_limit" default="-1.0"/>
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<arg name="calib_path" default="$(find kinect2_bridge)/data/"/>
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<arg name="use_png" default="false"/>
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<arg name="jpeg_quality" default="90"/>
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<arg name="png_level" default="1"/>
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<arg name="depth_method" default="cpu"/>
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<arg name="depth_device" default="-1"/>
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<arg name="reg_method" default="cpu"/>
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<arg name="reg_device" default="-1"/>
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<arg name="max_depth" default="12.0"/>
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<arg name="min_depth" default="0.1"/>
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<arg name="queue_size" default="5"/>
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<arg name="bilateral_filter" default="true"/>
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<arg name="edge_aware_filter" default="true"/>
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<arg name="worker_threads" default="4"/>
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<arg name="machine" default="localhost"/>
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<arg name="nodelet_manager" default="$(arg base_name)"/>
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<arg name="start_manager" default="true"/>
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<arg name="use_machine" default="true"/>
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<arg name="respawn" default="true"/>
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<arg name="use_nodelet" default="true"/>
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<arg name="output" default="log"/>
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<machine name="localhost" address="localhost" if="$(arg use_machine)"/>
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<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager"
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if="$(arg start_manager)" machine="$(arg machine)" />
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<!-- Nodelet version of kinect2_bridge -->
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<node pkg="nodelet" type="nodelet" name="$(arg base_name)_bridge" machine="$(arg machine)"
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args="load kinect2_bridge/kinect2_bridge_nodelet $(arg nodelet_manager)"
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respawn="$(arg respawn)" output="$(arg output)" if="$(arg use_nodelet)">
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<param name="base_name" type="str" value="$(arg base_name)"/>
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<param name="sensor" type="str" value="$(arg sensor)"/>
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<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
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<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
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<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
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<param name="calib_path" type="str" value="$(arg calib_path)"/>
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<param name="use_png" type="bool" value="$(arg use_png)"/>
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<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
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<param name="png_level" type="int" value="$(arg png_level)"/>
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<param name="depth_method" type="str" value="$(arg depth_method)"/>
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<param name="depth_device" type="int" value="$(arg depth_device)"/>
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<param name="reg_method" type="str" value="$(arg reg_method)"/>
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<param name="reg_device" type="int" value="$(arg reg_device)"/>
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<param name="max_depth" type="double" value="$(arg max_depth)"/>
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<param name="min_depth" type="double" value="$(arg min_depth)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
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<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
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<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
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</node>
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<!-- Node version of kinect2_bridge -->
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<node pkg="kinect2_bridge" type="kinect2_bridge" name="$(arg base_name)_bridge" machine="$(arg machine)"
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respawn="$(arg respawn)" output="$(arg output)" unless="$(arg use_nodelet)">
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<param name="base_name" type="str" value="$(arg base_name)"/>
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<param name="sensor" type="str" value="$(arg sensor)"/>
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<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
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<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
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<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
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<param name="calib_path" type="str" value="$(arg calib_path)"/>
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<param name="use_png" type="bool" value="$(arg use_png)"/>
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<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
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<param name="png_level" type="int" value="$(arg png_level)"/>
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<param name="depth_method" type="str" value="$(arg depth_method)"/>
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<param name="depth_device" type="int" value="$(arg depth_device)"/>
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<param name="reg_method" type="str" value="$(arg reg_method)"/>
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<param name="reg_device" type="int" value="$(arg reg_device)"/>
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<param name="max_depth" type="double" value="$(arg max_depth)"/>
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<param name="min_depth" type="double" value="$(arg min_depth)"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
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<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
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<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
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</node>
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<!-- sd point cloud (512 x 424) -->
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<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_sd" machine="$(arg machine)"
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args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
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<remap from="rgb/camera_info" to="$(arg base_name)/sd/camera_info"/>
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<remap from="rgb/image_rect_color" to="$(arg base_name)/sd/image_color_rect"/>
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<remap from="depth_registered/image_rect" to="$(arg base_name)/sd/image_depth_rect"/>
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<remap from="depth_registered/points" to="$(arg base_name)/sd/points"/>
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<param name="queue_size" type="int" value="$(arg queue_size)"/>
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</node>
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<!-- Run script -->
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<node pkg="wpb_home_apps" type="home_test" name="home_test" output="screen"/>
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</launch>
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