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28 lines
1.1 KiB
28 lines
1.1 KiB
<launch>
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<arg name="rviz" default="true" doc="whether to show Rviz" />
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<arg name="teleop_type" default="keyboard" doc="how to teleop ('keyboard', 'joystick', or 'none')" />
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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="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
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<!-- LASER RANGE FINDER -->
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<include file="$(find stretch_core)/launch/rplidar.launch" />
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<!-- TELEOP -->
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<include file="$(find stretch_core)/launch/teleop_twist.launch">
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<arg name="teleop_type" value="$(arg teleop_type)" />
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<arg name="linear" value="0.04" />
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<arg name="angular" value="0.1" />
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<arg name="twist_topic" value="/stretch/cmd_vel" />
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</include>
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<!-- MAPPING -->
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<node pkg="gmapping" type="slam_gmapping" name="gmapping_record_map" output="log" />
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<!-- VISUALIZE -->
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<node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/mapping.rviz" if="$(arg rviz)" />
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</launch>
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