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35 lines
2.0 KiB
35 lines
2.0 KiB
<launch>
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<arg name="map_yaml" doc="filepath to previously captured map (required)" />
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<arg name="rviz" default="true" doc="whether to show Rviz" />
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<arg name="gazebo_world" default="worlds/willowgarage.world" doc="the environment within which Stretch is loaded in Gazebo" />
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<arg name="gazebo_gpu_lidar" default="false" doc="whether to compute lidar with hardware acceleration (requires GPU)" />
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<arg name="gazebo_visualize_lidar" default="false" doc="whether to visualize planar lidar within Gazebo" />
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<!-- GAZEBO SIMULATION -->
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<include file="$(find stretch_gazebo)/launch/gazebo.launch">
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<arg name="world" value="$(arg gazebo_world)" />
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<arg name="visualize_lidar" value="$(arg gazebo_visualize_lidar)" />
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<arg name="gpu_lidar" value="$(arg gazebo_gpu_lidar)" />
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</include>
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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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<!-- 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_diff_drive_controller/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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</launch>
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