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19 lines
814 B
19 lines
814 B
<launch>
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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="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
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<include file="$(find stretch_core)/launch/rplidar.launch" />
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<node name="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen" >
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<param name="speed" type="double" value="0.04" />
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<param name="turn" type="double" value="0.1" />
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<remap from="/cmd_vel" to="/stretch/cmd_vel" />
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</node>
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<node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_navigation)/rviz/mapping.rviz" />
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<node pkg="gmapping" type="slam_gmapping" name="gmapping_record_map" output="log" />
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</launch>
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