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46 lines
2.0 KiB
46 lines
2.0 KiB
<launch>
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<!-- The navigation_3d launch file includes all of the launch files needed for a robot to accomplish 3D navigation.
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The nodes needed for navigation are map_server, octomap_server, amcl, and move_base.-->
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<!-- Map name -->
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<arg name="map" default="map"/>
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<!-- Move_base configuration folder. -->
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<arg name="move_base_config" value="3d" />
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<!-- Robot sensor topic mapping-->
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<arg name="laser_topic" default="scan"/>
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<arg name="pointcloud_topic" default="/camera/depth/color/points"/>
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<arg name="cmd_vel_topic" default="/stretch_diff_drive_controller/cmd_vel"/>
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<arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
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<arg name="odom_link" default="odom"/>
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<arg name="base_link" default="base_link"/>
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<!-- Launch Map Server -->
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<include file="$(find stretch_navigation)/launch/navigation/map_server.launch">
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<arg name="map_name" value="$(find stretch_navigation)/resources/static_maps/2d/$(arg map).yaml" />
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</include>
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<!-- Launch positive and negative Octomap Server -->
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<include file="$(find stretch_navigation)/launch/navigation/octomap_server.launch">
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<arg name="map" value="$(find stretch_navigation)/resources/static_maps/3d/$(arg map).bt" />
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<arg name="base_link" value="$(arg base_link)" />
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</include>
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<!--- Launch AMCL (Laser Localization) -->
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<node pkg="amcl" type="amcl" name="amcl" output="screen">
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<rosparam file="$(find stretch_navigation)/resources/config/amcl.yaml" command="load" />
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</node>
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<!-- Launch move_base -->
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<!-- Note that you will also need to change the relevant .yaml files (or make new copies)
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if you wish to use another namespace/robot_name. -->
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<include file="$(find stretch_navigation)/launch/navigation/move_base.launch">
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<arg name="config" value="$(arg move_base_config)" />
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<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
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<arg name="odom_topic" value="$(arg odom_topic)" />
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</include>
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<node type="rviz" name="rviz" pkg="rviz" args="-d $(find stretch_navigation)/rviz/octomap.rviz" />
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</launch>
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