hello-binit
3 years ago
1 changed files with 28 additions and 0 deletions
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stretch_navigation/launch/mapping_gazebo.launch
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| <launch> | |||||
| <arg name="rviz" default="true"/> | |||||
| <arg name="gazebo_gpu_lidar" default="false"/> | |||||
| <arg name="gazebo_visualize_lidar" default="false"/> | |||||
| <arg name="gazebo_world" default="worlds/empty.world"/> | |||||
| <!-- GAZEBO SIMULATION --> | |||||
| <include file="$(find stretch_gazebo)/launch/gazebo.launch"> | |||||
| <arg name="world" value="$(arg gazebo_world)" /> | |||||
| <arg name="visualize_lidar" value="$(arg gazebo_visualize_lidar)" /> | |||||
| <arg name="gpu_lidar" value="$(arg gazebo_gpu_lidar)" /> | |||||
| </include> | |||||
| <!-- TELEOP --> | |||||
| <node name="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen" > | |||||
| <param name="speed" type="double" value="1.0" /> | |||||
| <param name="turn" type="double" value="2.0" /> | |||||
| <remap from="/cmd_vel" to="/stretch_diff_drive_controller/cmd_vel" /> | |||||
| </node> | |||||
| <!-- RVIZ --> | |||||
| <node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/mapping.rviz" if="$(arg rviz)" /> | |||||
| <!-- GMAPPING --> | |||||
| <node pkg="gmapping" type="slam_gmapping" name="gmapping_record_map" output="log" /> | |||||
| </launch> | |||||