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55 lines
2.2 KiB
55 lines
2.2 KiB
<launch>
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<arg name="rviz" default="true" doc="whether to show Rviz" />
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<arg name="map_yaml" default="''" doc="previously captured FUNMAP map (optional)" />
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<arg name="debug_directory" default="$(env HELLO_FLEET_PATH)/debug/" doc="directory where debug imagery is saved" />
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<!-- REALSENSE D435i -->
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<include file="$(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="Default"/>-->
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<param name="initial_mode" type="string" value="High Accuracy"/>
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</node>
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<!-- -->
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<!-- FRUSTUM FIELD OF VIEW VISUALIZATION -->
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<node name="d435i_frustum_visualizer" pkg="stretch_core" type="d435i_frustum_visualizer" output="screen" />
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<!-- -->
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<!-- STRETCH DRIVER -->
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<param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
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<param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
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<include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
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<!-- -->
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<!-- FUNMAP -->
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<node name="funmap" pkg="stretch_funmap" type="funmap" output="screen" args="--load_map $(arg map_yaml)">
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<param name="debug_directory" type="string" value="$(arg debug_directory)"/>
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</node>
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<!-- -->
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<!-- IMU FILTER -->
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<include file="$(find stretch_core)/launch/imu_filter.launch" />
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<!-- -->
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<!-- ROBOT LOCALIZATION FILTER -->
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<include file="$(find stretch_core)/launch/stretch_ekf.launch" />
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<!-- -->
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<!-- LASER RANGE FINDER -->
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<include file="$(find stretch_core)/launch/rplidar.launch" />
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<!-- -->
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<!-- LASER SCAN MATCHER FOR ODOMETRY -->
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<include file="$(find stretch_core)/launch/stretch_scan_matcher.launch" />
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<!-- -->
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<!-- KEYBOARD TELEOP -->
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<node name="keyboard_teleop" pkg="stretch_core" type="keyboard_teleop" output="screen" args='--mapping_on' />
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<!-- -->
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<!-- VISUALIZE -->
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<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find stretch_funmap)/rviz/stretch_mapping.rviz" if="$(arg rviz)" />
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<!-- -->
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</launch>
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