mirror of
https://github.com/6-robot/wpb_home.git
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50 lines
2.1 KiB
XML
50 lines
2.1 KiB
XML
<launch>
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<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
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<arg name="gui" default="false" />
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<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
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<param name="use_gui" value="$(arg gui)"/>
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<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/slam.rviz" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
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<param name="base_frame" value="base_footprint"/>
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</node>
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<!-- Run wpb_home core -->
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<node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
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<param name="serial_port" type="string" value="/dev/ftdi"/>
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<rosparam file="$(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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<!-- joy node -->
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<node respawn="true" pkg="joy" type="joy_node" name="wpb_home_joy" >
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<param name="dev" type="string" value="/dev/input/js0" />
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<param name="deadzone" value="0.12" />
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</node>
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<!-- Axes Velcmd -->
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<param name="axis_linear" value="1" type="int"/>
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<param name="axis_angular" value="0" type="int"/>
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<param name="scale_linear" value="1" type="double"/>
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<param name="scale_angular" value="1" type="double"/>
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<node pkg="wpb_home_bringup" type="wpb_home_js_vel" name="teleop"/>
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</launch> |