1 Star 0 Fork 9

allenqiu/robot_navigation

加入 Gitee
与超过 1200万 开发者一起发现、参与优秀开源项目,私有仓库也完全免费 :)
免费加入
文件
该仓库未声明开源许可证文件(LICENSE),使用请关注具体项目描述及其代码上游依赖。
克隆/下载
robot_navigation.launch 1.72 KB
一键复制 编辑 原始数据 按行查看 历史
<launch>
<!-- Arguments -->
<arg name="map_file" default="$(find robot_navigation)/maps/map.yaml"/>
<arg name="simulation" default= "false"/>
<arg name="planner" default="teb" doc="opt: dwa, teb"/>
<arg name="open_rviz" default="false"/>
<arg name="use_dijkstra" default= "true"/>
<group if="$(arg simulation)">
<!-- simulation robot with lidar and map-->
<include file="$(find robot_simulation)/launch/simulation_one_robot_with_map.launch"/>
</group>
<group unless="$(arg simulation)">
<!-- robot with lidar -->
<include file="$(find robot_navigation)/launch/robot_lidar.launch">
<!--<arg name="robot_name" value="$(arg robot_name)"/>-->
</include>
<!-- Map server -->
<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)">
<param name="frame_id" value="map"/>
</node>
<!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<rosparam file="$(find robot_navigation)/param/$(env BASE_TYPE)/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="0.0"/>
<param name="initial_pose_y" value="0.0"/>
<param name="initial_pose_a" value="0.0"/>
</node>
</group>
<!-- move_base -->
<include file="$(find robot_navigation)/launch/move_base.launch" >
<arg name="planner" value="$(arg planner)"/>
<arg name="simulation" value="$(arg simulation)"/>
<arg name="use_dijkstra" value="$(arg use_dijkstra)"/>
</include>
<!-- rviz -->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find robot_navigation)/rviz/navigation.rviz"/>
</group>
</launch>
Loading...
马建仓 AI 助手
尝试更多
代码解读
代码找茬
代码优化
1
https://gitee.com/allenqiu2020/robot_navigation.git
git@gitee.com:allenqiu2020/robot_navigation.git
allenqiu2020
robot_navigation
robot_navigation
master

搜索帮助