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https://github.com/6-robot/wpr_simulation.git
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17 lines
564 B
XML
17 lines
564 B
XML
<launch>
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<!-- 载入 机器人 和 SLAM 的仿真场景 -->
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<include file="$(find wpr_simulation)/launch/wpb_stage_slam.launch"/>
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<!-- Hector SLAM -->
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<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping">
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<param name="tf_map_scanmatch_transform_frame_name" value="base_footprint" />
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</node>
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<!-- Rviz 显示 -->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find wpr_simulation)/rviz/slam.rviz"/>
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<!-- 运动控制 -->
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<node pkg="rqt_robot_steering" type="rqt_robot_steering" name="rqt_robot_steering"/>
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</launch> |