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33 lines
1.4 KiB
XML
33 lines
1.4 KiB
XML
<launch>
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
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<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
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<arg name="gui" default="false" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- Run gmapping -->
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<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
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<param name="base_frame" value="base_footprint"/>
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</node>
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<!-- Run wpb_home core -->
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<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
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<param name="serial_port" type="string" value="/dev/ftdi"/>
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<rosparam file="$(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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</launch> |