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65 lines
3.3 KiB
65 lines
3.3 KiB
<launch>
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<arg name="rviz" default="true" doc="whether to show Rviz" />
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<arg name="map_yaml" default="$(env HELLO_FLEET_PATH)/maps/xyz.yaml" doc="previously captured map (optional)" />
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<arg name="debug_directory" default="$(env HELLO_FLEET_PATH)/debug/" doc="directory where debug imagery is saved" />
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<arg name="trees_viz" default="true" doc="whether to visualize BT in rqt" />
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<!-- REALSENSE D435i -->
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<include file="$(find stretch_core)/launch/d435i_high_resolution.launch"></include>
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<node name="d435i_configure" pkg="stretch_core" type="d435i_configure" output="screen">
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<!--<param name="initial_mode" type="string" value="Default"/>-->
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<param name="initial_mode" type="string" value="High Accuracy"/>
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</node>
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<!-- -->
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<!-- FRUSTUM FIELD OF VIEW VISUALIZATION -->
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<node name="d435i_frustum_visualizer" pkg="stretch_core" type="d435i_frustum_visualizer" output="screen" />
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<!-- -->
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<!-- STRETCH DRIVER -->
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<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
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<param name="/stretch_driver/mode" type="string" value="navigation" />
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<include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
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<!-- -->
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<!-- CENTERED BASE LINK -->
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<node name="centered_base_link_tf_publisher" pkg="tf" type="static_transform_publisher" args="-0.1 0 0 0 0 0 1 /base_link /centered_base_link 100" />
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<!-- LASER RANGE FINDER -->
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<include file="$(find stretch_core)/launch/rplidar.launch" />
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<!-- MAP SERVER -->
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<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_yaml)" />
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<!-- LOCALIZATION -->
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<include file="$(find amcl)/examples/amcl_diff.launch" />
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<!-- ARUCO DETECTION -->
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<include file="$(find stretch_core)/launch/stretch_aruco.launch" />
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<!-- NAVIGATION -->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find stretch_navigation)/config/common_costmap_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find stretch_navigation)/config/common_costmap_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find stretch_navigation)/config/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find stretch_navigation)/config/global_costmap_params_withmap.yaml" command="load" />
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<rosparam file="$(find stretch_navigation)/config/base_local_planner_params.yaml" command="load" />
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<remap from="/cmd_vel" to="/stretch/cmd_vel" />
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</node>
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<!-- VISUALIZE -->
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<node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/navigation.rviz" if="$(arg rviz)" />
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<node pkg="rqt_py_trees" name="rqt_py_trees" type="rqt_py_trees" if="$(arg trees_viz)"/>
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<!-- ARUCO ACTION SERVER -->
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<node name="aruco_head_scan" pkg="stretch_demos" type="aruco_head_scan_action.py" output="screen" />
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<!-- VISUAL SERVOING ACTION SERVER -->
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<node name="visual_servoing" pkg="stretch_demos" type="visual_servoing_action.py" output="screen" />
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<!-- AUTODOCKING -->
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<node name="autodocking" pkg="stretch_demos" type="autodocking_bt.py" output="screen" />
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</launch>
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