ROS_Robot/wpr_simulation
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robot_state_publisher

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This commit is contained in:
zhangwanjie 2020-12-27 23:16:11 +08:00
parent 37d2088f72
commit ae1c1ff689
4 changed files with 4 additions and 4 deletions
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2
launch/wpb_map_tool.launch
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@ -66,7 +66,7 @@
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>

2
launch/wpb_navigation.launch
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@ -60,7 +60,7 @@
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>

2
launch/wpb_pointcloud.launch
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@ -22,7 +22,7 @@
<arg name="rvizconfig" default="$(find wpr_simulation)/rviz/sensor.rviz" />
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>

2
launch/wpb_rviz.launch
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@ -10,7 +10,7 @@
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>