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33 lines
1.3 KiB
33 lines
1.3 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="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
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<!-- REALSENSE D435i -->
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<include file="$(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="High Accuracy"/>
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</node>
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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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<include file="$(find stretch_octomap)/launch/octomap_mapper.launch">
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<arg name="pointcloud_topic" value="/camera/depth/color/points"/>
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</include>
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<!-- VISUALIZE -->
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<node name="rviz" pkg="rviz" type="rviz" output="log" args="-d $(find stretch_octomap)/rviz/octomap_mapper.rviz" if="$(arg rviz)" />
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</launch>
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